摘要
建立了管道清洁机器人的三维本体结构模型,针对机器人在变径管、弯管、T型管内运动干涉问题,提出了一种新型撑开机构,建立了撑开机构的机构运动简图;利用牛顿欧拉法建立机器人撑开机构的动力学方程并求解;用ADAMS软件建立了撑开机构动力学仿真模型,并进行了动力学仿真分析。仿真结果表明,机器人撑开机构滑块速度方向改变时,机构各杆件受力达到最大。
This paper takes the in-pipe cleaning robot as the research object and establishes its three-dimensional structure model,For the robot movement interference exists in reduced tube,elbow and tee tube,a new type of the open mechanism is put forward,then the motion diagram of the stretching mechanism is drawn,Newton-Euler method is used to set up and solve the dynamic equation of the stretching mechanism,its dynamic simulation model is established with ADAMS software and its dynamic analysis is done.The simulation result shows that the force on all links is up to its maximum value when the direction of slider velocity changes.
出处
《机械制造与自动化》
2017年第5期117-121,共5页
Machine Building & Automation
关键词
管道清洁机器人
撑开机构
ADAMS
动力学
仿真
in-pipe cleaning robot
three-dimensional structure model
movement interference
mechanism
