摘要
以改进型管道清灰机器人为研究对象,建立机器人行走装置撑开机构简图.利用动态仿真的联立约束法,将运动约束和牛顿-欧拉方程组成一组联立线性方程组,求解得到各关节的约束反力、加速度和速度.利用Matlab编制计算程序,基于Simulink建立仿真模型,对管道机器人撑开机构动力学进行动态仿真,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,且杆件3受力最大.
Taking the modified pipeline robot duster as the research object,the sketch of stretching mechanism of robot walking installation was set up.With the method of simultaneous confinement for dynamic simulation,a set of simultaneous linear equations were derived by means of coupling the motion confinement with Newton-Euler equation,and its solution was performed to get the reactive force of the confinement,velocity,and acceleration in all joints.Computer program was compiled with Matlab.Simulation model was set up with simulink and the dynamic simulation was conducted for the stretching mechanism within the pipeline robot.The simulation result showed that the force on all links reached its maximum when the direction of slider velocity was changed and the force on link-3 was maximal.
出处
《兰州理工大学学报》
CAS
北大核心
2010年第2期38-42,共5页
Journal of Lanzhou University of Technology
基金
兰州市科技局项目(2007-2-26)
关键词
管道清灰机器人
撑开机构
动力学
仿真
pipeline robot duster
stretching mechanism
dynamics
simulation
