摘要
针对目前单纯机械搅拌装置体积大、笨重、能耗多的缺点,提出了液下搅拌机器人的一种方案,并对机器人各部分结构功能进行了初步描述,进而对机器人的运动学和动力学特性做了分析。机器人的研制成功将提高水煤浆代油技术生产的现代化水平。
An adaptive scheme of roboticized pug mill working under water-coal slurry is made, which can overcome the disadvantages of the mechanical churn-dasher's large-volume, ponderosity and excessively consumed energy.The function of the robot's configuration is furthus described.Finally,the characteristics in kinematics and dynamics of the robot are analyzed in detail. Successful development of the robot will improve the modernization of the technology of water-coal slurry instead of oil.
出处
《北京机械工业学院学报》
2004年第1期49-54,共6页
Journal of Beijing Institute of Machinery
关键词
液下搅拌机器人
动力学
运动学
水煤浆代油技术
mobile robot
kinematics
dynamics
technology of water-coal slurry instead of oil
