"穿地龙"机器人转向机构虚拟样机研究

"穿地龙"机器人是一种特种机器人,主要由锥形头部、转向机构、冲击装置三部件组成,能够实现PE或PVC管、电缆、光缆等中、小直径管线的地下非开挖铺设,有广泛的应用前景和开发价值.文中介绍了"穿地龙"机器人的转向机构,叙述了该机构中头部的摆动原理,建立了头部质心的运动方程,并运用虚拟样机技术对转向机构进行了虚拟装配和对头部质心的运动进行了仿真研究,可得出虚拟装配无干涉和可实现头部质心的各种位姿变化,验证了该转向机构的可靠性,可为"穿地龙"机器人的总体设计提供参考.

Research on Virtual Prototype about "Dragon of Puncturing Mud" Robot Turning Device

"Dragon of Puncturing Mud" Robot is one kind robot of special type, it make mainly up of three parts including taper head, turning device and impacting equipment. There are abroad appliance foreground and developing value as it can pave PE pipe, PVC pipe,cable and optical fiber cable under the mud. In this paper, the turning device of the robot is designed, the swaying mechanism principle of its head is recounted, the sport equation about center of its head mass is established, the turning device is made by virtual assembly using virtual prototype technology and the sport of its head is researched through simulation. Accordingly the turning device dependability is validated by the conclusion that virtual assembly is no interferential and various pose change about center of its head mass is realized. This paper can provides reference for collectivity design of "Dragon of Puncturing Mud" Robot.