| 面向压力钢管维护作业的爬壁机器人焊接运动轨迹研究 |
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| 引用本文： | 刘志辉,刘连伟,郑开元,付兴伟,赵言正.面向压力钢管维护作业的爬壁机器人焊接运动轨迹研究[J].机床与液压,2021,49(3):58-62. |
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| 作者姓名： | 刘志辉 刘连伟 郑开元 付兴伟 赵言正 |
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| 作者单位： | 中国长江电力股份有限公司, 湖北宜昌443002;中国长江电力股份有限公司, 湖北宜昌443002;长江生态环保集团有限公司, 湖北武汉430010;上海交通大学机器人研究所, 上海200240 |
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| 摘 要： | 介绍一款面向压力钢管维护作业的爬壁机器人,对其运动学特性进行分析。介绍机器人的机械结构和控制系统,然后采用D-H参数法建立机器人运动学模型,构造运动学正解方程,并采用Robotic Toolboox对机器人正逆运动学方程进行求解,在线显示机器人三维仿真图像,分析各关节的位移、速度及加速度曲线,并对机器人末端轨迹进行规划,从而验证了机器人结构的合理性。
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| 关 键 词： | 爬壁机器人 运动学特性 焊接轨迹规划 |
Research on the Motion Trajectory of Welding Climbing Robot Oriented to Penstock Maintenance |
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| LIU Zhihui,LIU Lianwei,ZHENG Kaiyuan,FU Xingwei,ZHAO Yanzheng.Research on the Motion Trajectory of Welding Climbing Robot Oriented to Penstock Maintenance[J].Machine Tool & Hydraulics,2021,49(3):58-62. |
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| Authors: | LIU Zhihui LIU Lianwei ZHENG Kaiyuan FU Xingwei ZHAO Yanzheng |
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| Affiliation: | (China Yangtze Power Co.,Ltd.,Yichang Hubei 443002,China;Yangtze Ecology and Environment Co.,Ltd.,Wuhan Hubei 430010,China;Robotics Institute,Shanghai Jiaotong University,Shanghai 200240,China) |
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| Abstract: | A wall climbing robot for penstock maintenance was introduced, and its kinematic characteristics were analyzed. The mechanical structure and control system of the climbing robot were introduced, then the kinematics model of the welding robot was established by using D-H parameter method, and the forward and inverse kinematics equations were constructed. Then, the robot forward and inverse kinematics equations were solved by using Robot Toolbox, the 3D simulation image of the robot was displayed online.The displacement, velocity and acceleration curves of each joint were analyzed, and the trajectory of the robot end was planned, which verified the rationality of the robot structure. |
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| Keywords: | Climbing robot Kinematic characteristics Trajectory planning of welding |
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