自动洗消机械臂的设计与控制

为应对日趋复杂的核生化安全威胁，进一步提升洗消装备的自动化程度和快速作业能力，设计用于装备 快速自动化洗消的自动洗消机械臂。给出洗消作业流程，采用多层臂架折叠技术实现越野底盘车载需求，通过多自 由度复合运动控制技术实现自动化洗消过程所需的精确匀速直线运动。结果表明：该机械臂能用于对车辆和大型目 标物的快速、自动化洗消，有军事和民用意义。

Design and Control of Automatic Decontamination Manipulator

In order to cope with the increasingly complex threats of nuclear and biochemical safety, and further improve the automation and quick operation ability of the decontamination equipment, an automatic decontamination manipulator for equipment rapid and automated decontamination was designed. The decontamination operation process was expounded, and the vehicle-mounted requirements of off-road chassis were met by the multi-layer boom folding technology. The precise and uniform linear motion required in the automatic decontamination process was realized by the multi-degree-of-freedom compound motion control technology. The results show that it can be used for the requirements of rapid and automatic decontamination of vehicles and large objects, and has obvious military and civilian significance.