| 基于转向机构的“穿地龙”机器人运动学研究 |
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| 引用本文： | 张忠林,孟庆鑫,王华.基于转向机构的“穿地龙”机器人运动学研究[J].机器人,2005,27(6):550-554. |
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| 作者姓名： | 张忠林 孟庆鑫 王华 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 黑龙江省科学技术计划（攻关）资助项目（2001010100500）. |
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| 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．
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| 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 |
| 文章编号： | 1002-0446（2005）06-0550-05 |
| 收稿时间： | 2005-03-17 |
| 修稿时间： | 2005-03-17 |
Research on Kinematics of "Dragon of Puncturing Mud" Robot Based on Turning Device |
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| ZHANG Zhong-lin,MENG Qing-xin,WANG Hua.Research on Kinematics of "Dragon of Puncturing Mud" Robot Based on Turning Device[J].Robot,2005,27(6):550-554. |
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| Authors: | ZHANG Zhong-lin MENG Qing-xin WANG Hua |
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| Affiliation: | Meclmncs and Electronics E~tgineering College, Harbin Engineering Unitersity, Harbin 150001, China |
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| Abstract: | This paper presents the characteristics of the world representative air-powered impacting mole of which the direction is controllable.According to the turning principle of "Dragon of Puncturing Mud" robot,we put forward a design scheme on the turning device of "Dragon of Puncturing Mud" robot.Swaying principle of the robot head is described,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. |
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| Keywords: | "Dragon of Puncturing Mud" robot trenchless technology turning device kinematics simulation trajectory planning |
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