摘要
液下搅拌机器人可取代传统的机械搅拌装置,具有体积小,能耗少等优点,文章对机器人的动力学特性进行了分析。在此基础上,给出了前轮驱动时车轮的驱动力、附着力的计算式。
The roboticized pug mill nnder watr-oal slurry Wh ich has the advantage of small-volume and less conmed energy can supersede the traditional mechanical chum-dasher. The characteritics in kinematics and dynamics of the robot are analyzed in detail, On the bia of which the equations calculating the drive power adhesive power are put forward when the fore-wheels are ddved.
出处
《机械研究与应用》
2005年第1期88-89,120,共3页
Mechanical Research & Application
关键词
移动机器人
前轮驱动
运动学
动力学
驱动力
附着力
mobile mbot
fore-wheel drive
kinematics dynamics
d rive power
adhesive power
