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针对现有清理管道内表面污物和锈蚀的管道机器人存在拖动力不足和自适应性差等缺陷,提出一种一入三出的管道机器人驱动机构,建立驱动系统的数字化模型。分析了管道内表面处理机器人驱动特性、传动关系和力矩变化特点,完善了管道机器人的设计理论。建立了管道机器人驱动系统的虚拟样机模型,利用Matlab软件分析测试了机械运动学特性。结果表明,此管道机器人驱动机构具有很好的自适应性、较好的差动功能和较强的行走性能,可以解决拖动力不足和自适应性差的问题。 相似文献
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本文介绍了一个基于微机的交互式机器人的运动轨迹规划仿真系统,该系统能对PUMA560机器人进行运动学及迹规划的仿真分析,并能显示该机器人各关节的运动特性曲线,本文介绍了所采用的数学模型,该仿真系统的结构,并给出了计算程序框图。 相似文献
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基于Pro/E的管道喷涂机器人运动仿真分析 总被引:2,自引:0,他引:2
利用ProE/Mechanism的运动仿真功能,模拟实现了冗余多自由度管道喷涂机器人手臂在S型管道内的运动特性。模拟仿真过程中通过输入由机器人逆运动学计算所得的手臂关节关键点的相对坐标,实现了机器人手臂按照规划路径运动的设计要求,从而检验出手臂是否与管道碰撞,为喷涂路径的优化提供了重要参考,最终实现了对机器入喷涂效果的最优化控制。 相似文献
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研究了基于虚拟现实(VR)系统的机器人运动仿真。首先讨论了VR系统的基本构成及其建模技术,其次分析了可视的重要性,最后研究了机器人运动仿真VR系统的结构、基本原理及其软件开发平台,并进行机器人的运动仿真。 相似文献
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针对现有轮腿式管道机器人存在的管径适应能力与运动平稳性之间的矛盾,提出了将折叠式平行四边形机构引入到机器人的轮腿结构中,在保证运动平稳性的前提下,扩大了机器人适应的管径范围。同时,对该机器人的越障能力和变径能力以及弯管内通过性进行了分析计算,并进行了三维建模与运动仿真分析,验证了本设计的合理性与可行性。该机器人具有适应能力强、过弯灵活、攀爬能力强、驱动效率高等特点。 相似文献
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本文利用MATLAB软件中的simulink工具箱设计了利用超声波测距原理进行避障的移动机器人的动态仿真演示平台,实现了对移动机器人避障的实时动态的仿真,仿真实验结果良好。 相似文献
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All over the world there exist several simulation systems, of varying degrees of sophistication, for robot working cells.
These systems can also perform respective operations for the analysis of situations in the robot work cell, such as output
of the actual parameters of all joints of the robot, graphic/display options and collision detection algorithms. A systematic
analysis of existing robot simulation systems showed that only a very few of them are able to perform a collision test. Although,
in the field of computational geometry and computer algebra, there exist several approaches for doing collision checks, most
of them seem to be not at a stage at which they can be really implemented or efficiently used.
In this paper we describe algorithms for static and dynamic collision detection, and its implementations in the frame of the
robot simulation system SMART. 相似文献
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V. M. Zuev V. I. Ivanov V. I. Kapustin 《Russian Journal of Nondestructive Testing》2006,42(5):325-333
Classification of flaws in welded joints during X-ray and ultrasonic nondestructive testing are considered. The consideration is focused on the parameters of flaws that affect the reliability of the tested item. Recommendations are made to improve identification of a flaw’s shape and type via relationships between test signatures and to assess parameters involved in calculations of the strength and service life of a tested item. 相似文献
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There are good prospects for development of ultrasonic excitation-fiber Bragg gratings (UE-FBGs) damage detection techniques in the field of Nondestructive Testing (NDT). However, corresponding strain sensing theories are few and only applicable to the embedded fiber Bragg gratings (FBGs) sensors in composite structures. First, a four-cylinder sensing model for both the embedded and glued FBG sensors is established by introducing a surface-bonded effect coefficient obtained from simulation analysis in this paper. According to the shear-lag theory, an improved strain sensing function is derived from this model by considering the contribution made by the elastic modulus of host material. Then, based on above function, the strain sensing characteristics are analyzed. Finally, the system with an ultrasonic transducer to excite FBG and a demodulation device employing a tunable laser to detect FBG wavelength shifts was established to validate the theoretical analysis. The experiment results showed that the ultrasonic strain sensing ability of the FBG sensor decreased with the increase of ultrasonic frequency and glued thickness. 相似文献
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B. T. Budai V. T. Porodnov I. V. Myakutina N. V. Kasatkin 《Russian Journal of Nondestructive Testing》2012,48(7):426-435
Potentially dangerous spots (PDSs), for example, leaks in product pipelines (oil and gas pipelines), are revealed using optoelectronic systems (OESs) that are usually mounted on airborne vehicles (e.g., helicopters). Earlier, a relevant problem consisted of revealing the onset of leaks in PDSs; however, today it is necessary to detect the PDSs of leaks in order to prevent their development. The complexity of the problem is related to the fact that product pipelines are most often located near densely populated areas and near reservoirs with drinking water. The appearance of PDSs is usually characterized by deviations in the temperature and other physical parameters from standard values in small areas. The detection of such spots necessitates decreasing the flying height of an OES carrier. As a rule, this yields a deterioration of imaging quality and OES overheating, which decreases the efficiency of this PDS detection method. Conservative OES developers believe that a low imaging quality and OES overheating result from random flaws in the OES assembly. Contrary to this, it is shown that failures occur due to a deterministic flaw at the stage of designing drives for an OES platform. 相似文献
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The papers on ultrasonic infrared thermography are briefly reviewed. The results of comparative experimental investigations of composite-material specimens subjected to ultrasonic and optical stimulation are described. 相似文献
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码垛机器人运动学分析与仿真 总被引:1,自引:0,他引:1
为了评价码垛机器人的工作能力和实现作业的精确控制,需对码垛机器人进行工作空间计算和轨迹规划。以ABB IRB660码垛机器人为例,建立D-H矩阵并对其工作空间进行仿真;然后对码垛机器人完成特定码垛任务进行轨迹规划。工作空间仿真结果表明,码垛机器人杆件参数和关节参数设计满足工作要求;对拟定的码垛任务轨迹规划结果表明,此轨迹规划达到了考虑速度、加速度等边界条件的前提下运动时间最优的目的,验证了机构设计的合理性。本研究有利于码垛机器人的结构设计和动作控制,并为码垛机器人的精确控制和动力学研究奠定了基础。 相似文献
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S. I. Builo 《Russian Journal of Nondestructive Testing》2000,36(5):387-388
In the early 1970s, we developed SARD-1, an ultrasonic apparatus for the automatic detection and estimation of flaws [1] under
the supervision by V. V. Zalesskii, head of laboratory of acoustic methods at Rostov State University. The distinguishing
feature of its design was the presence of dedicated units for statistical processing of detected signals with a view to identifying
a flaw and estimating its parameters. 相似文献
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针对多自由度超声检测机器人检测曲面工件时位姿调整困难问题,通过分析超声检测并联机器人的运动学模型,提出了超声背散射检测与并联机器人一体化技术。以实现超声检测探头姿态的特殊控制要求为目标,对检测并联机器人建立了数学模型,提出了一种位姿控制计算方法,并利用Matlab对位姿控制进行了仿真分析,为计算机控制检测探头进行曲面检测提供准确的控制参数。通过超声C扫查实验,对比了超声图像中噪声所占的面积比例和图像轮廓清晰度。实验结果表明,超声检测并联机器人在提高超声探头的位姿控制精度后,能够降低噪声,提高信噪比。 相似文献