摘要
针对焦炉炉顶环境恶劣、人工测温精度和效率低的情况,设计了一种仿蝎式机器人用于焦炉测温,并对机器人腿部行走机构进行了设计分析。首先,参照蝎子的仿生结构对焦炉测温机器人整体结构进行建模和腿部的设计,并对其进行应力分析,确保其在测温过程安全稳定运行;其次,建立机器人运动结构Denavit-Hartenberg(D-H)坐标系,对其腿部进行了正逆运动学分析;最后,利用Matlab软件对腿部进行笛卡儿空间轨迹规划,并运用Adams软件对腿部关节进行了步态仿真,表明腿部轨迹规划和步态仿真的运动曲线趋近相同且运行平稳。试验结果表明,测温机器人运动的实际误差保持在2 mm之内且运行平稳。这为后续焦炉测温机器人整体系统的开发奠定了重要的基础。
A scorpion type robot is designed for the temperature measurement of coke ovens in response to the harsh environment on the top of the coke oven,low accuracy and efficiency of manual temperature measure⁃ment.This study mainly analyzes the design based on the robot's leg walking mechanism.Firstly,the biomimetic structure of the scorpion is referred to complete the modeling of the overall structure of the coke oven tempera⁃ture measuring robot and the design of its legs.Stress analysis indicates that it operates safely and stably during the temperature measurement process.Secondly,the Denavit-Hartenberg(D-H)coordinate system of the ro⁃bot's kinematic structure is established,and the forward and inverse kinematics of its legs are analyzed.Thirdly,the Matlab software is used to plan the Cartesian space trajectory of the legs,and Adams software is used to sim⁃ulate the gait of the leg joints,indicating that the motion curves of the leg trajectory planning and gait simulation are almost identical and running smoothly.The experimental results show that the actual error of the temperature measurement robot's movement is maintained within 2 mm and runs smoothly.This lays an important foundation for the development of the overall system of the coke oven temperature measurement robot in the future.
作者
李亚宁
高强
严鹏飞
昝晓磊
蒋方宇
Li Yaning;Gao Qiang;Yan Pengfei;Zan Xiaolei;Jiang Fangyu(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)
出处
《机械传动》
北大核心
2024年第8期57-63,共7页
Journal of Mechanical Transmission
基金
山西省基础研究计划项目(202203021222053)
中北大学先进制造技术山西省重点实验室开放课题研究基金资助项目(XJZZ202207)。
关键词
焦炉测温
仿蝎式
焦炉测温机器人
腿部关节
D-H模型
Coke oven temperature measurement
Scorpion type
Temperature measurement robot of coke oven
Leg joints
D-H model
