摘要
设计一种在核环境下工作的螺栓拆卸机械手,该机械手末端执行器上装载了液压驱动的拆卸螺栓的扳手头,机械手可驱动扳手头在空间实现三自由度运动。建立、求解其动力学方程,并分析其动力学性能;通过Laplace变换建立机械手的传递函数模型,设计相应的补偿重力影响的PD控制系统。建立该螺栓拆卸机械手的联合仿真模型,进行动力学仿真。仿真结果为机构系统优化设计和样机制造提供参考。
A 3-DOF bolting/unbolting manipulator working at nuclear environment was designed. A bolt wrench driven by hydraulic pressure was fixed on the end-executor of the manipulator. The bolt wrench was driven by the manipulator to achieve 3-DOF movement. The dynamic equations were constructed and solved, and its dynamic performances were analyzed. The transmission function model of the manipulator was built by Laplace transformation. A PD control system compensating passively the gravity influence was designed. A combined simulation model about the manipulator for dynamic analysis was built. The results provide reference for me- chanical design optimization and prototype manufacture.
出处
《机床与液压》
北大核心
2011年第1期16-19,共4页
Machine Tool & Hydraulics
基金
国际ITER项目(ITA23-01-CN)
国家科技部863课题(2007AA041502-3)
