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新型微型管道机器人结构设计及其运动可行性分析 被引量:4
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作者 朱永梅 孙小艳 张超 《江苏科技大学学报(自然科学版)》 CAS 2013年第4期351-355,共5页
针对现有微型管道机器人多为结构复杂,应用领域较窄等现状,力求以结构简单、设计方便的机构来实现复杂运动为设计主线,综合蠕动式管道机器人适应性强,张紧式机器人运行平稳等优点,以及目前逐步成熟的功重比高的微型电机技术,设计了一种... 针对现有微型管道机器人多为结构复杂,应用领域较窄等现状,力求以结构简单、设计方便的机构来实现复杂运动为设计主线,综合蠕动式管道机器人适应性强,张紧式机器人运行平稳等优点,以及目前逐步成熟的功重比高的微型电机技术,设计了一种新型的微型步进电机驱动的蠕动-张紧式微型管道机器人.并对管道机器人进行了运动学和动力学分析以及虚拟样机仿真,验证了其运动可行性. 展开更多
关键词 微型管道机器人 凸轮结构设计 运动学分析 动力学分析
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Analysis of motion on agile shell-feeding system 被引量:2
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作者 LUO A-ni LIU He-ping ZHANG Jia-tai HU Sheng-hai LI Shou-ren 《Journal of Marine Science and Application》 2005年第3期47-52,共6页
Since cannon drum of agile shell-feeding system rotates frequently and intermittently, its motion must be steady. Outline of driving cam determines the motion of cannon drum, so it is necessary to select the proper ou... Since cannon drum of agile shell-feeding system rotates frequently and intermittently, its motion must be steady. Outline of driving cam determines the motion of cannon drum, so it is necessary to select the proper outline of cam. Through analysis of parabolic outline and cycloid outline of the cams, the outline that combines the two curves is obtained. According to the demand of production,the value of the outline is revised, and then the method of fitting curve is used to get the expression of the angle of cam and the displacement of the driven part. Through analyzing the motion of the cannon drum, it is suggested that the angle of the cam is proportion to the displacement of the driven part. The cam with the specially derived outline can move steadily. 展开更多
关键词 CAM OUTLINE shell drum agile shell-teeding system
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