摘要
为攀爬锥形杆状建筑物设计了一款新型的爬杆机器人的夹持机构,采用双弹簧和气动推杆结构和柔性体贴合壁面的设计实现了夹持功能。研究了夹持机构受力情况,并且建立了柔性体的变形方程。采用动力学仿真软件ADAMS完成夹持过程仿真,分析了机器人在夹持过程中柔性体应变和等效应力变化情况。分析结果表明:夹持机构柔性体最大应变量为0.226,夹持机构能够贴合建筑壁面,达到适应杆径变化的效果。
In order to climb conical rod-shaped buildings, a new clamping mechanism of rod-climbing robot is designed, which adopts the double spring and pneumatic push rod structure and the design of flexible body close to the wall surface to realize the clamping function. The force of the clamping mechanism is studied, and the deformation equation of the flexible body is established. The dynamic simulation software ADAMS is used to complete the simulation of the clamping process, and the changes of flexible body strain and equivalent stress during the clamping process are analyzed. The analysis results show that the maximum strain of the flexible body of the clamping mechanism is 0.226, and the clamping mechanism can fit the building wall to adapt to the change of the rod diameter.
作者
龚楠
张敏良
谢浩
史春光
柴宁生
Gong Nan;Zhang Minliang;Xie Hao;Shi Chunguang;Chai Ningsheng(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2023年第1期130-134,共5页
Agricultural Equipment & Vehicle Engineering
关键词
攀爬机器人
夹持机构
柔性体
等效应力
climbing robot
clamping mechanism
flexible body
equivalent stress
