共查询到20条相似文献,搜索用时 484 毫秒
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提出了一种绝缘升降平台,用于提高高压带电清扫机器人带电作业时的对地绝缘性能,同时降低机器人垂直升降机构驱动油缸的初始工作压力.该绝缘升降平台采用传统的剪叉式结构,以及绝缘主从楔块驱动和水平驱动相互接力交替作用的驱动方式.首先对绝缘升降平台的高压绝缘性能进行了设计和分析,并根据升降平台的动力学模型,对绝缘升降平台的结构进行了优化.最后,对绝缘升降平台进行了耐压试验,并对平台升降时水平油缸的工作压力进行了测量.试验及测量结果表明平台具有很好的高压绝缘性能,且平台起升时工作压力很小,接力时过渡平稳,满足了带电清扫机器人的实际使用要求. 相似文献
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阐述了一种线驱动与常规串联驱动相结合的混合设计方法.这种设计方法融合了线驱动并联机构和模块化串联机构的优点,而且混合驱动机器人的工作空间大于完全线驱动机器人的工作空间.文章首先介绍了混合驱动机器人的机构设计,也就是机器人的肩关节采用模块化串联结构,而肘、腕关节采用线驱动结构.然后利用几何分析的方法来解机器人前向运动学问题.在分析驱动线长与关节角之间变换关系的基础上,分别利用速度法和关节角增量法来计算机器人逆向运动学解.最后,使用VC++实现混合驱动机器人对直线运动轨迹进行跟踪的仿真,从而证明了文章所描述的设计方法的正确性. 相似文献
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以蛇怪蜥蜴为仿生对象,设计了一种足式水上行走机器人.鉴于水面环境的复杂性,提出利用计算机仿真的方法构建足式水上行走机器人及其外界环境整个系统的数学模型.分析了现有的ZMP(zero moment point)算法难以适用足式水上行走机器人控制的原因,提出机器人的CPG(central pattern generator)模糊控制方法.设计了足式水上行走机器人的CPG控制器和模糊控制器,进行参数分析,完成了机器人整个控制系统的搭建,并进行了仿真验证.最后进行了机器人户外水上行走实验,测定了水上行走过程中的实时偏角.实验结果表明该控制方法有效. 相似文献
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为提高打磨机器人性能,本文对机器人控制器软件系统进行设计,并根据系统设计方案,分别对Boot Loader和内核等驱动进行具体设计,提出了一套具有可行性的设计方案. 相似文献
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Surface-Tension-Driven Biologically Inspired Water Strider Robots: Theory and Experiments 总被引:1,自引:0,他引:1
Recent biological studies on water strider insects revealed how they maintain stability and maneuver on the surface of water. While macroscale bodies use buoyancy, these very small insects use surface tension force to balance their weight on water. This paper proposes a biologically inspired miniature robot that utilizes the unique scaling advantage of these insects. The paper focuses on understanding the physics of the interaction between the insect and the surface of water and on designing a robot that mimics their key features. Hydrophobic Teflon coated wire legs optimized to take the most advantage of the surface tension force are used to support the weight of the 1-g robot. It is shown that twelve of these legs can support up to 9.3 g of payload. A T-shape actuation mechanism with three piezoelectric unimorph actuators is designed and studied to enable controlled locomotion. Static and dynamic properties of the robot are analyzed and compared with the experimental results. The tethered robot can successfully make both linear and rotational motions. Maximum forward speed is measured to be 3 cm/s, and the rotational speed is 0.5 rad/s. This robot proposes a new way of locomotion on water surface for future robots and devices. 相似文献
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Boiler water wall in thermal power plants is characterized by high-altitude detection requirements. Moreover, the existing water wall-climbing robots are characterized by low obstacle-crossing performance, deviations, and a lack of autonomous crossing pipeline function. In view of this feature, a wall-climbing robot with permanent magnet and electromagnetic hybrid adsorption wheels is proposed. The robot has the function of independent traverse according to its own structural characteristics. Furthermore, transverse movement is proposed by comparing different adsorption modes, moving and driving modes. Robot statics in upward, downward, and transverse crawling are carried out, and nonsliding mechanical and nonoverturning mechanical models are obtained. Robot's dynamics are analyzed by considering the wall movement. The finite element simulation analysis of its main stressed parts is carried out by employing ANSYS, and an optimal structural model is obtained. The gap adsorption permanent magnet model is constructed, and its parametric simulation analysis is carried out using the Ansoft Maxwell module. The influence curve of the gap on the magnetic force is then obtained. Finally, the prototype is developed according to the design model and calculation analysis, and the experimental test is carried out. The experimental results show that the robot meets the expected functions and indexes, providing a basis for the intelligent development of thermal power plants. 相似文献
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管道机器人被广泛应用于管道检测领域,为适应小口径带压供水管网的检测,设计了一种小体型的蛇形管道机器人头部结构,不仅有着良好的防水抗压效果,且该结构引入连续体机器人的特点,采用绳驱柔性体和关节旋转的配合动作来进行姿态变换,使得机器人头部运动更加灵活,能够在150mm-300mm的小口径自来水管道中自由移动,有着广泛的可达任务空间;运用等效D-H方法建立机器人的运动学模型,计算出其正、逆解析表达式,并使用蒙特卡罗法在Matlab中绘制出机器人头部的可达任务空间图,最后将设计的虚拟样机模型在Adams仿真软件中进行仿真分析;运动学分析和虚拟样机模型的仿真分析结果表明,所提设计方案合理可行,满足应用设计需求。 相似文献
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四足机器人动态步行仿真及步行稳定性分析 总被引:9,自引:0,他引:9
为了研究影响四足机器人动态稳定步行的因素,使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。文中详细叙述了从机器人的运动轨迹规划、将MATLAB计算数据输入ADAMS,到由ADAMS施加力和约束、建立步行机器人虚拟样机的具体方法和步骤。从理沦及仿真结果两方面对影响机器人稳定步行的因素进行了较全面的分析和验证,如步长、步行周期、起步等。通过虚拟样机实验弥补了由于客观条件限制无法在物理样机上进行的部分实验内容,发现了机器人起步方式对步行稳定性具有明显影响并进行了分析。研究结果及所用的MATLAB-ADAMS联合仿真方法对四足步行机器人的设计研究以及仿真实验工作都具有指导意义。 相似文献
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In this study, we improved an underactuated finger mechanism by using Solidworks to simulate the grasp operation of a finger in some different situations. In addition, a robot palm is designed for the three-finger robot hand with the designed underactuated fingers. A Solidworks simulation was used to verify the rationality of the design. Some parts of the hand were modified to fit for 3D printing, and a prototype of the hand was produced by 3D printing, which could reduce the cost of the production process, as well as provide design flexibility and other advantages. Finally, some grasping experiments were made with the prototype. The results showed that the robot could grasp objects with different sizes, and further verified the rationality of the design and feasibility of fabricating the robot hand using 3D printing. 相似文献
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基于ADAMS的双足机器人建模与仿真 总被引:1,自引:0,他引:1
为了提高双足机器人的设计效率,可以通过虚拟样机技术对其进行设计与仿真。针对机器人设计双足行走步态,首先以实际的物理样机为原型,建立双足机器人的七连杆模型,并用解析法求得机器人的逆运动学模型;然后在ADAMS软件中建立参数化的虚拟样机模型,在Matlab软件中规划双足机器人在平地上的完整行走步态;最后将规划的步态导入ADAMS中,在虚拟样机上实现了双足机器人的行走仿真。仿真结果与规划的行走步态基本一致,验证了虚拟样机的有效性,从而为双足机器人的设计与步态规划提供了一种新的方法和可靠依据。 相似文献
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《Advanced Robotics》2013,27(1-2):119-134
This paper describes the biomimetic inspiration and development of a burrowing robot called CRABOT. This robot is one part of a project to investigate novel techniques for locating the source of volatile chemicals released underground. A range of chemicals, including petrol, kerosene and diesel fuel, are commonly stored in underground tanks or transported by buried pipelines. All of these structures are prone to corrosion and the development of leaks. Currently, finding the source of underground chemical leaks is a difficult task. As part of an automated system to locate chemical leaks a prototype burrowing robot has been developed modeled on the mole crab Emerita talpoida. The current version of this robot functions in a 'semi-submersed' configuration that allows the operation of the burrowing mechanism to be easily observed. Later versions will burrow completely below the surface. This paper provides details of the design and performance of the prototype burrowing robot. 相似文献