摘要
面向于桥梁、体育场馆建筑、塔类基础设施以及宇航领域空间桁架结构检测和维护作业的自动化,提出一种可在空间桁架内自由穿行的双臂手移动机器人,通过方案分析与对比确定了该机器人移动方式及机构方案为:双臂手交替抓取移动、6-D.O.F关节型串联机构;进而进行了机器人实际结构设计及其虚拟样机设计;并推导出了逆运动学解;最后,利用Adams软件进行了在桁架内穿行移动运动仿真,由得到的各关节驱动力矩曲线、数据验证了该机器人设计的正确性和移动能力。
Space trusses are extensively used in bridges, stadium buildings and tower buildings, however, there is lots of inconvenience and danger to maintain and detect them, so a dual arm ＆ hands mobile robot with 6-D.O.F used in space truss is put forward and designed. In term of the actual structure and size of the designed robot, the virtual machine model of the robot is set up with the use of ProE and Adams software; the ptrper also shows the kinematics analysis to the robot structure, to get the solving of inverse kinematics. Finally, the movement simulation is completed with Adams software, and the torque curve and data of each joint by simulation prove that the driving ctrpability of DC motors and joint torques are enough.
出处
《机械设计与制造》
北大核心
2007年第3期110-112,共3页
Machinery Design & Manufacture
