摘要
为使遥操作机器人能满足多种多样的任务需求,提高机器人工作能力与效率,文章设计了一款遥操作机器人末端工具更换装置,以更换危险环境设施上不同规格螺母为例,对该装置性能参数进行分析,使用Recurdyn V7R1软件对该装置进行动力学分析,通过对比动力学仿真和理论计算结果,验证了该装置的合理性与可靠性,另通过样机实际操作试验,验证了该装置的可行性。
In order to enable the teleoperation robot to meet the needs of a variety of tasks and improve the robot’s working ability and efficiency, a teleoperation robot end tool replacement device was designed. Taking the replacement of nuts of different specifications on hazardous environment facilities as an example, the performance parameters of the device Perform analysis and use Recurdyn V7R1 software to perform dynamic analysis on the device. By comparing the dynamic simulation and theoretical calculation results, the rationality and reliability of the device are verified, and the feasibility of the device is verified by the actual operation test of the prototype.
作者
陈林
熊隽
刘春
Chen Lin;Xiong Jun;Liu Chun(Faculty of Mechanical Engineering,Luzhou Vocational and Technical College,Sichuan Luzhou 646000;Automation Engineering Department,Sichuan Vocational College of Chemical Industry,Sichuan Luzhou 646099)
出处
《造纸装备及材料》
2021年第6期20-21,67,共3页
Papermaking Equipment & Materials
关键词
遥操作机器人
末端工具更换装置
自动换接
仿真试验
teleoperation robot
end tool changing device
automatic switching
simulation test
