摘要
机器人的应用在当前社会已经非常普遍,在机器人的实际运用过程中,机器人转弯半径的大小限制了其工作能力。本文以减小机器人转向半径,提高机器人适用范围为目的,设计出一种机器人原地转向机构。通过对原地转向机构的运动学仿真分析得到相关运动规律,并验证了该机构是可实现的、合理的、稳定的,为该转向机构走向现实打下了坚实的基础。
The application of robot is very common in the current society. In the practical application of robot,the size of turning radius of robot limits its working ability. In order to reduce the turning radius of the robot and improve the application scope of the robot,this paper designs a kind of in-situ turning mechanism of the robot.Through the kinematic simulation analysis of the in-situ steering mechanism,the relevant motion laws are obtained,and it is verified that the mechanism is feasible,reasonable and stable,which lays a solid foundation for the steering mechanism to move towards reality.
作者
李伟
段益东
李进学
刘晓东
徐锋锋
LI Wei;DUAN Yi-dong;LI Jin-xue;LIU Xiao-dong;XU Feng-feng(Weichai Power Co.,Ltd.,Weifang Shandong 261001,China;School of Construction Machinery,Shandong Jiaotong University,Jinan 250357,China;School of Mechanical Engineering,Xi’an University of Architecture and Technology,Xi’an 710311,China;School of Automotive Engineering,Shandong Jiaotong University,Jinan 250357,China)
出处
《装备制造技术》
2020年第3期187-190,共4页
Equipment Manufacturing Technology
关键词
机器人
原地转向
仿真分析
robot
in-situ steering
simulation analysis
