摘要
介绍了国外有代表性的可控气动矛设备方向可控的特点.按照“穿地龙”机器人的转向机理,提出了“穿地龙”机器人的转向机构方案.叙述了该机构中头部的摆动原理,建立了“穿地龙”机器人的运动轨迹方程,并进行了仿真分析,为“穿地龙”机器人的动力学分析以及位姿检测系统的研究打下了基础.
This paper presents the characteristics of the world representative air-powered impacting mole of which the direction is controllable. According to the turaiag principle of “Dragon of Puncturing Mud” robot, we put forward a deaign scheme on the turning device of “Dragon of Puncturing Mud” robot. Swaying principle of the robot head is deacribed, and the motion track equation of “Dragon of Puncturing Mud” robot is established and analyzed by kinematics simulation. The theoretical foundation is provided for dynamics analysis and pose measurement of “Dragon of Puncturing Mud” robot.
出处
《机器人》
EI
CSCD
北大核心
2005年第6期550-554,共5页
Robot
基金
黑龙江省科学技术计划(攻关)资助项目(2001010100500)
关键词
“穿地龙”机器人
非开挖技术
转向机构
运动学仿真
轨迹规划
“Dragon of Puncturing Mud” robot
trenchless technology
turning device
kinematics simulation
trajectoryplanning
