摘要
研制一种具有主动变径机构的圆形管道机器人。设计具有3组独立控制驱动模块的机器人机构,对机器人进行位姿和力学分析,描述了机器人在典型位姿条件下的力学特性。制作机器人实验样机,使用ADAMS软件对机器人进行运动仿真计算,对机器人在管道内部的姿态适应性和摩擦条件适应性进行实验验证。仿真计算和实验研究结果验证了该机器人机构设计的合理性和较好的管道适应性。
A circular pipe robot with active diameter changing mechanism is developed.A robot mechanism with three independent control driving modules is designed,its pose and mechanics are analyzed,and its mechanical characteristics under typical pose conditions are described.An experimental prototype of the robot is made,ADAMS software is applied to simulate the motion of the robot and experiments are conducted to verify the adaptability of the robot to the posture and friction conditions inside the pipeline.The simulation calculation and experiment research results show that the robot mechanism design is reasonable and the robot has good pipeline adaptability.
作者
陈朋威
高飞
贾超钰
CHEN Pengwei;GAO Fei;JIA Chaoyu(School of Mechanical Engineering,Shaanxi Institute of Industry Technology,Xianyang 712000,China;College of Mechanical and Transportation Engineering,Taiyuan University of Technology,Taiyuan 030024,China)
出处
《机械制造与自动化》
2024年第1期214-217,237,共5页
Machine Building & Automation
基金
陕西省教育厅服务地方专项项目(22JC005)。
