摘要
通过理论计算推导出关于弯管机器人驱动模块在设计过程中,模块长度、蠕动步距及蠕动防倾倒设计和弯管直径、曲率半径的结构数值关系。根据此数值关系对驱动模块进行设计,然后运用SolidWorks软件对所设计的驱动模块进行建模,再利用ADAMS软件对该驱动模块在标准的弯管中进行运动学仿真,得到此驱动模块在弯管运动时的位移、速度曲线图,验证所得数值关系对于弯管机器人驱动模块设计的可行性。进一步得出结论,此数值关系在弯管机器人驱动模块的长度、支撑脚的长度设计,以及驱动模块在弯管中运动干涉验证具有可行性,为此类型的弯管机器人投入实际生产和后续的弯管机器人整体的自动化设计研究,奠定了一定的基础。
In the design process of the driving module of the curved pipe robot,the relationship between the length of the module,the creeping step distance,the creeping anti-dumping design and the diameter and radius of curvature of the elbow is deduced by theoretical calculation.According to this relationship,this driver module is designed,then Solidworks is used to model the designed driver module,ADAMS is used to carry out the kinematics simulation of the driving module in the standard curved pipe,the displacement and speed curve of the driving module moving in curved pipe are obtained,and the feasibility of the numerical relationship for the driving module design of the curved pipe robot is verified.It is concluded that the numerical relationship is feasible in the design of driving module length,supporting claw length and the verification of driving module movement interference in curved pipe.This kind of the curved pipe robot is put into actual production,and the whole automatic design of the following curved pipe robot has laid a certain foundation.
作者
裴文超
张平宽
张宇尧
李登超
PEI Wenchao;ZHANG Pingkuan;ZHANG Yuyao;LI Dengchao(College of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《机械工程师》
2020年第8期7-9,12,共4页
Mechanical Engineer
