摘要
随着攀爬类机器人技术的不断发展,对能够攀爬复杂三维钢架结构的机器人的需求日益增多。针对一种带脚钉的特殊钢材塔架,提出了一种气动攀爬机器人本体设计方案。利用SolidWorks建立设计方案的三维模型,将其导入Adams中建立虚拟样机模型,并进行运动学及动力学的仿真,测量分析了重要的动力学参数,并运用Adams的二次开发技术,追踪了机器人模型总质心的坐标轨迹。验证了方案的可行性,研究了其运动及动力学性能,为物理样机的研制提供了重要的理论依据。
As the development of the climbing robot technology, there are more requirements for climbing robots able to climb complex 3D structure. A pneumatic climbing robot is designed for a special tower with nail feet. The 3D model of the design which is built in SolidWorks, is imported into Adams and the virtual model is built from it. The kinematic and dynamic analysis is done in Adams. The main dynamic parameters are measured, and the coordinates of the robot＇s centroid are measured using the Customization function. The feasibility of the design is proved and the kinematic and dynamic performance is studied. That provides important theoretical basis for the development of the physical prototype.
出处
《机械》
2009年第2期73-75,78,共4页
Machinery
