共查询到19条相似文献,搜索用时 125 毫秒
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针对人工方式进行核电管道检测与维护存在效率低的问题,将管道机器人技术应用到核电站管道维护中,代替人工进行现场故障监测、异物探测和清理。设计了直径为300 mm的管道机器人的机械结构,分析了机器人在管道中的受力情况以及驱动特性。同时设计了一种全新的单电机全驱动机构,这种设计使机器人整体结构更为紧凑,提高了机器人行进速度以及驱动负载能力。并利用ADAMS动力学仿真软件对机器人驱动特性进行了研究和分析。结果表明,机器人的驱动能力能够满足实际作业需求,并且其驱动能力与摩擦系数、斜坡度有关;其中驱动力与摩擦系数成正比,即摩擦系数越大机器人的驱动力越大;驱动力与斜坡度成反比,即斜坡度越大驱动力越小。该研究结果可为后续机器人优化设计提供理论依据。 相似文献
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针对石油、化工、天然气及核工业等产业迅速发展,各种管道作为一种重要的物料输送设施,得到了广泛应用。由于腐蚀、重压等作用,管道不可避免地会出现裂纹、漏孔等现象。而管道所处的环境往往是人们不易或不能直接接触的,因此,对于管道的检测和维护成了工业生产中的一道难题,管道机器人有巨大需求,本文提出了管道机器人中的一种。 相似文献
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To improve flatness error of plate-shaped workpieces in milling under side clamp holding mechanisms, appropriate magnitudes of clamping forces and method of application are studied in this paper. The effect of side-clamping force on workpiece deformation is investigated by experimental and computational analyses for the case where the workpiece is clamped at a position higher than the neutral plane of bending of the plate-shaped workpiece. It is found that the thermal deformation and elastic deformation caused by clamping force are in two opposite directions. Then, an appropriate method is proposed to compensate for the workpiece thermal deformation caused by cutting heat with the opposite elastic deformation caused by the side-clamping force, so as to keep the machined top surface of the workpiece flat as much as possible. The proposed method has been confirmed through computational analyses and experiments. © 2000 Elsevier Science Inc. All rights reserved. 相似文献
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研究了一种利用螺旋旋转产生牵引力的无损伤微型机器人的驱动机构。详细分析计算了微型机器人在采用矩形、梯形和三角形圆柱螺旋时所产生的轴向摩擦牵引力和动压粘液膜承载量。通过对比三种螺纹下微型机器人的运动特性参数,得出微型机器人采用矩形螺纹最为合理。 相似文献
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刘晓东 《工业仪表与自动化装置》1999,(5):3-7
本文对应变式切削测力仪的动态性能进行了研究,比较测力仪弹性无件在粘贴应变片前后固有频率和阻尼比的变化。结论是:应变片的粘贴不会造成测力仪固有频率的损失;测力系统的通过频率取决于系统中固有频率最差的环节-动态应变仪。最后,用实验的方法验证了测力系统对动态力的测量结果。 相似文献
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A tube scanner is constructed which avoids tilting of the sample surface when areas at some distance off the tube axis are scanned. Such tilt occurs with conventional piezo tubes, causes distorted vertical scaling, and limits the field of view to a few μm. These problems are partly overcome with a new design, which also uses a single tube, but with eight-segmented electrodes. It can be thought of being constructed of two four-segmented, conventional tubes, with the x- and y-sections in the two parts being connected crosswise. While no additional voltage supply is needed, the tube is forming an s-like shape, such that the bending of one half of the tube is compensated by a similar bending, but in the opposite direction, of the other half. Moreover, the displacement of the sample surface in z-direction can be compensated quantitatively by suitable compression or dilatation of the tube, which can always be calculated from the known lateral displacement of the axis. The performance of this scanner is demonstrated on steps of a calibration replica. 相似文献
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可吞式无线磁驱胶囊机器人在胃肠道内的诊疗效果与机器人受到的外部磁驱动力密切相关。本文建立了外部磁驱动力的理论模型,基于等效磁荷模型推导了两径向充磁环形永磁体相互作用的数学表达式,采用自适应递归式计算方法开展了数值计算。此外,发展了环形永磁体间磁力实时测量方法,并开发了磁力-间距同步测量仪器开展实验研究,且建立了3D环形永磁体有限元仿真模型。实验测量磁力-间距关系曲线与理论计算和有限元仿真结果吻合较好,误差小于4%,验证了理论模型和有限元仿真模型的准确性和可靠性。通过参数分析,揭示了胶囊机器人内置永磁体长度、厚度和体积对磁力的影响规律。研究结果为精准驱动胶囊机器人在胃肠道内运动奠定了理论基础。 相似文献
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This paper presents a novel integrated piezoelectric six-dimensional force sensor which can realize dynamic measurement of multi-dimensional space load. Firstly, the composition of the sensor, the spatial layout of force-sensitive components, and measurement principle are analyzed and designed. There is no interference of piezoelectric six-dimensional force sensor in theoretical analysis. Based on the principle of actual work and deformation compatibility coherence, this paper deduces the parallel load sharing principle of the piezoelectric six-dimensional force sensor. The main effect factors which affect the load sharing ratio are obtained. The finite element model of the piezoelectric six-dimensional force sensor is established. In order to verify the load sharing principle of the sensor, a load sharing test device of piezoelectric force sensor is designed and fabricated. The load sharing experimental platform is set up. The experimental results are in accordance with the theoretical analysis and simulation results. The experiments show that the multi-dimensional and heavy force measurement can be realized by the parallel arrangement of the load sharing ring and the force sensitive element in the novel integrated piezoelectric six-dimensional force sensor. The ideal load sharing effect of the sensor can be achieved by appropriate size parameters. This paper has an important guide for the design of the force measuring device according to the load sharing mode. 相似文献