摘要
随着国内管道运输系统的广泛应用,智能化管道检测技术的开发显得日益重要。在研究了国内外仿生机器人和并联机器人的基础上,对蝎子的行走过程进行了观察和记录,得到了大量的步态分析数据,并应用仿生学、运动学设计理论根据生物原形提出了仿蝎机器人的整体结构方案及各转动关节的转动数据,通过设计计算得到了其详细的机械结构尺寸,根据蝎子的尺寸比例设计了仿蝎机器人三维模型,为进一步进行仿蝎机器人样机在管道检测领域的应用奠定了坚实的基础。
With the wide application of domestic pipeline transport system, intelligent pipeline inspection technology development is important increasingly. It studied on the basis of the parallel robots and biometric robots at home and abroad, observed and recorded the walking process of scorpion, which gained a lot of gait analysis datca According to the application of bionics and kinematic design theory, it proposed the overall structure of fake scorpion robot and the trial data of the rotary joint. The detailed mechanical structure size was obtained by design calculation, which could be used to establish three- dimensional model of the robot. A U these works lay the solid foundation for further fake scorpion robot prototype application on pipeline inspection.
出处
《机械设计与制造》
北大核心
2014年第4期21-23,共3页
Machinery Design & Manufacture
基金
国家"八六三"高技术研究发展计划(863计划)项目(2012AA041402)
北京市属高等学校人才强教深化计划资助(PHR201008355
PHR200907221)
关键词
仿蝎机器人
步态分析
机械结构
Imitation Scorpion Robot
Gait Analysis
Mechanical Structure
