共查询到19条相似文献,搜索用时 51 毫秒
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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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In this paper a robust methodology, reported in a previous work, is applied to the design of the unactuated joints of a spherical three-degree-of-freedom parallel robot, the Agile Wrist (AW). Robustness is needed because of the extremely difficult task of manufacturing a spherical mechanism with all its joint axes concurrent at a single point. In order to account for the unavoidable manufacturing errors, it is proposed here to replace the unactuated revolute (R) joints of an existing design by cylindrical (C) joints. The latter function even in the presence of nonconcurrent axes. A procedure, based on dual numbers, is used to solve the inverse kinematics of the entire mechanism in order to determine the rotations and translations of each C joint. Based on statistical results of the kinematic analysis, the C joints are suitably dimensioned. 相似文献
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管道机器人无线电磁自适应定位技术 总被引:1,自引:0,他引:1
针对金属管道机器人跟踪定位问题,提出了一种改进的自适应无线电磁定位方法,在未知管道几何尺寸和周围环境电磁参数的情况下实现了管道内机器人的三维定位.首先,通过磁偶极子模型分析了管道外极低频电磁场分布规律.其次,建立了六传感器接收天线的自适应定位模型,设计了电磁发射和接收电路,基于该模型推导出了含有6个未知数的非线性方程组,并分别采用3种算法对其进行了仿真分析.最后,分别对不同壁厚及不同埋藏深度管道进行了试验研究.试验结果表明,在管道壁厚为5.74 mm,埋藏深度为0.8~2 m的情况下,总位置误差的平均值小于18.7 cm,即比原模型减少了3.4 cm,满足机器人实际工作中的定位需要. 相似文献
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六足爬行机器人在理论上可以实现向前向后稳定行走.对驱动足采用了曲柄摇杆机构,将腿放在四杆机构的摇杆上,实现了腿前后摇摆行走.此外,由于是通过连杆曲线图谱选择腿部运动轨迹,从连杆曲线图谱上可以看到,整条曲线都是很平滑的,因此,机器人在行走过程中也会非常稳定,而不至于出现冲击载荷.对六足机器人的行进机构、运动设计与分析、机器人的运动轨迹和六足机器人的控制系统进行了详细阐述. 相似文献
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V. Potkonjak 《Mechanism and Machine Theory》1983,18(6):431-438
In the paper are presented the basic ideas of computer-aided design of manipulation robots based on adopted optimizational criteria and on set constraints of strengths, as well as on actuator capabilities. Using complete models of manipulator dynamics, a simulation programme was derived, giving at its output the optimal design parameters of manipulator. An algorithm was formed, optimizing simultaneously two of the several significant manipulator parameters. In one case these are two diameters of circular cross-section segments, in another, one is a diameter and the other the reducing ratio of the DC motor type actuator. 相似文献
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气动三指机器人手的多目标优化设计 总被引:2,自引:1,他引:1
提出了气动三指机器人手优化设计法,它以手指力传递和位移为优化准则,在目标函数满足约束条件,求得最佳设计参数,此优化设计数学模型能帮助设计者获得最佳的手指结构设计。 相似文献
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Olga Batta?a Alexandre Dolgui Nikolai Guschinsky Genrikh Levin 《The International Journal of Advanced Manufacturing Technology》2012,63(9-12):963-973
Pipelines are widely used in transport systems and public utilities and infrastructures. To produce their components, specially designed multi-positional machines are employed. Since the cost of the equipment used affects the cost of final pipelines, the design of such machines is an important financial issue. This paper presents such a design problem formulated as a combinatorial optimization problem. Two mathematical models and an efficient solution approach are suggested. Industrial examples are also considered in order to demonstrate the use of the method developed. 相似文献
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针对大型容器焊缝及热影响区域人工打磨存在效率低、一致性差等问题,根据打磨工艺要求对打磨过程进行了打磨效果及影响因素分析等工艺研究,基于打磨工艺的研究结果对爬壁打磨机器人进行了功能和性能需求分析,建立了总功能图和具体功能原理模型,通过对比分析各功能原理解确定了爬壁打磨机器人的结构方案,详细研究了爬壁打磨机器人的关键结构并进行了样机打磨试验。结果表明:空载转速4 000 r/min、正压力10 N为打磨工艺的最佳参数值;爬壁打磨机器人打磨效率为1.12 m2/h,打磨后壁面呈现镜面效果,粗糙度Ra≤25μm,达到了设计要求,具有较高的工程应用价值。 相似文献