| 管道机器人的机构设计与通过性分析 |
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| 引用本文： | 王明盛,朱洪俊,崔莉娟.管道机器人的机构设计与通过性分析[J].矿山机械,2010(4). |
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| 作者姓名： | 王明盛 朱洪俊 崔莉娟 |
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| 作者单位： | 西南科技大学; |
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| 摘 要： | 分析了弹簧腿管道机器人的力学特性和适应范围,以及丝杠螺母管道机器人的力学特性和通过性。通过比较这两种机器人的优缺点,综合其特点提出了弹簧丝杠管道机器人的机构设计方法,并分析了该机器人的通过性。分析得知,该机器人在越过障碍时,可以始终与管道内壁紧密接触,不仅可以使正压力始终保持在合适的范围内,而且增大了越障的成功率。
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| 关 键 词： | 弹簧腿 丝杠螺母 管道 机器人 |
Mechanism design and trafficability analysis of the pipeline robot |
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| WANG Mingsheng ZHU Hongjun CUI Lijuan Southwest University of Science , Technology,Mianyang ,Sichuan,China.Mechanism design and trafficability analysis of the pipeline robot[J].Mining & Processing Equipment,2010(4). |
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| Authors: | WANG Mingsheng ZHU Hongjun CUI Lijuan Southwest University of Science Technology Mianyang Sichuan China |
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| Affiliation: | WANG Mingsheng ZHU Hongjun CUI Lijuan Southwest University of Science , Technology,Mianyang 621000,Sichuan,China |
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| Abstract: | Analyze the dynamic characteristics and the application range of the pipeline robot with the spring leg and the dynamic characteristics and the trafficability of the screw-nut pipeline robot.Moreover,comparing their advantages and disadvantages and synthesizing their features,the paper proposes a new design of the spring screw-nut pipeline robot,and analyzes its trafficability.The analytical results show that this robot could keep close contact with the pipe inwall all the time when crossing obstacle,which ... |
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| Keywords: | spring leg leadscrew nut pipeline robot |
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