共查询到20条相似文献,搜索用时 125 毫秒
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为解决电厂锅炉内壁、船体、玻璃幕墙外墙面等大型构件直立面检测维护的工程难题,研制了一种新型的过约束柔索驱动检测机器人。研究了不同的柔索驱动定位机构及构型的差异,并根据工程应用需要,总结了柔索驱动检测机器人所需具备的基本功能,据此选择了功能更易实现的过约束定位机构,然后进行了系统的构型设计和运动机构结构的设计。通过一定的合理简化,建立了系统运动分析模型和运动机构受力模型,根据力矢量及几何闭合条件,得出了柔索运动方程和静力平衡方程,求解出了柔索的运动参数和受力解析解。试制了样机并搭载CCD相机进行了相关的验证试验,实现了柔索驱动检测机器人的基本功能。 相似文献
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一种轻型玻璃幕墙清洗机器人模型的研究 总被引:3,自引:0,他引:3
基于真空吸附原理,该文提出了一种具有新型轻质的玻璃幕墙清洗机器人模型。文中首先简要介绍了该机器人的本体结构,详细分析了其运动功能原理,并对机器人在壁面上工作情况进行了静态受力分析。该机器人重量轻、结构简单,具有较大的应用前景。 相似文献
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针对建筑物玻璃幕墙的清洗要求和目前机器人只能单向清洗作业的实际情况,开发了一种与爬壁机器人配套使用、具备双向作业及污水回收净化循环利用功能的清洗作业系统,大幅提高了作业质量、作业效率和节能环保性能.清洗系统不但适用于已有的爬壁机器人,也可与具有较强吸附运动功能及壁面适应能力、但在垂直于壁面方向有一个移动自由度的轮腿式爬壁机器人配套使用.开发了用于清洗系统与机器人集成的高度自适应弹性连接机构,实现了清洗系统恒压越障、恒压作业功能,且作业范围进一步扩大至弧形壁面,最后给出了该清洗系统与连接机构在轮腿式爬壁机器人上的应用示例. 相似文献
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针对目前清洁机器人的清洁效率低,同时路径规划技术存实际应用中方法简单、适应性弱,特别是在障碍物环境下存在明显的不足等问题,提出了路径规划的基本方法及关键过程,保证机器人完成清洁任务,达到自主路径规划和全区域覆盖的要求。着重分析了环境建模的不同技术,同时讨论了在环境地图中不同的路径搜索算法,通过对算法的覆盖率、重复率等重要性能指标进行了比较,分析了不同算法的优、缺点及适用范围,为算法的合理应用提供了技术参考,最后提出了清洁机器人进一步研究的方向。研究结果表明,根据环境的复杂程度,需要采取不同的路径规划算法来制定控制方案,而对多种算法进行融合技术处理则能有效地提高对不同环境的适用度以及控制系统的鲁棒性。 相似文献
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Zhi-Yuan Qian Yan-Zheng Zhao Zhuang Fu Qi-Xin Cao 《The International Journal of Advanced Manufacturing Technology》2006,30(1-2):147-155
This paper describes a non-actuated glass-curtain wall-cleaning robot prototype that has been designed and realized based on some wall-climbing robots developed recently and common traits of glass-curtain walls of high-rise buildings. The robot hasn’t its own driving mechanism, but it can move on smooth glass surfaces depending on its own gravity and the lifting force of the trolley crane on the roof while adhering to the surfaces using dual vacuum suction cups. Obstacles, such as horizontal window frames, can be crossed while cleaning. The safety analysis ensures that the robot can work reliably. The analysis on characteristics of suction cups using fluidic network theory is to enhance the adhering capacity of the robot. The control system utilizes two-level computer control strategy to achieve the robot’s moving, cleaning and crossing obstacles. Experiments proved the robotic system is feasible and practical. 相似文献
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The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot. 相似文献
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Ji-Woo Park Jeong Kim Kwang-Ho Kim Beom-Soo Kang 《The International Journal of Advanced Manufacturing Technology》2014,73(9-12):1273-1280
The flexible stretch forming technology (FSFT) is suitable for flexible manufacturing because it affords several advantages including applicability to various forming processes such as sheet metal forming, single curved surface forming, and quadratic curved surface forming. In this study, the formation of a quadratic curved surface with a saddle-type shape by the flexible stretch forming process is systematically investigated through a numerical simulation. A 4-mm-thick Al 3003-H14 aluminum alloy is used as the initial blank material. Urethane pads are defined based on a hyperelastic material model as a cushion for the smooth forming surface. The elastic recovery deformation behavior is also investigated to consider the exact result after the last forming process. The simulation indicates that the stretch forming process can be used to apply more stress to the blank and to reduce the elastic recovery effect. An experiment was then performed to confirm the process formability and reduction of the elastic recovery effect. A comparison of the objective surface between the simulation and the experimental results verified that the stretch forming process reduced the elastic recovery effect. This confirms that FSFT can be feasibly used to manufacture quadratic curved surfaces. 相似文献
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气动擦窗机器人的控制和环境检测 总被引:3,自引:0,他引:3
对于采用气体驱动的擦窗机器人,如何实现机器人位置的精确定位是实现无碰撞完全擦洗的关键,也是一个难点,本单位所研制的擦窗机器人采用层级控制系统,对机器人的运动进行控制,并利用PWM方法驱动,分别使用分段PID以及分段模糊控制的方法来实现气缸的精确定位。文中给出具体控制策略和实验结果。擦窗机器人所面对的是部分未知的高空作业环境。正确、实时地检测作业环境,是擦窗机器人安全工作的必要条件。为了识别玻璃表面不同的障碍物和重构玻璃窗框,本文提出了一种多传感器的融合算法。 相似文献
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