| 翻转式炉膛清灰机器人设计 |
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| 引用本文： | 程向丽,曾周末,侯越强,赵兴,李建,靳世久. 翻转式炉膛清灰机器人设计[J]. 传感器与微系统, 2012, 31(9): 86-89 |
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| 作者姓名： | 程向丽 曾周末 侯越强 赵兴 李建 靳世久 |
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| 作者单位： | 天津大学精密测试技术及仪器国家重点实验室,天津,300072 |
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| 摘 要： | 设计了一种在加热炉炉膛内平行行走可翻转式机器人。基于炉膛内部结构、功能的特殊需求,提出了集成翻转、行走、清灰功能的组合式结构设计思想。应用第二类Lagrange方程和牛顿力学原理对机器人进行了动力学和静力学分析,并阐述了基于该结构的控制系统设计思想,同时进行了翻转实验,验证了机器人的可行性。
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| 关 键 词： | 机器人 管壁 翻转 行走 清灰 |
Design on flip tank-dust-cleaning robot |
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| CHENG Xiang-li , ZENG Zhou-mo , HOU Yue-qiang , ZHAO Xing , LI Jian , JIN Shi-jiu. Design on flip tank-dust-cleaning robot[J]. Transducer and Microsystem Technology, 2012, 31(9): 86-89 |
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| Authors: | CHENG Xiang-li ZENG Zhou-mo HOU Yue-qiang ZHAO Xing LI Jian JIN Shi-jiu |
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| Affiliation: | (State Key Laboratory for Precision Testing Techniques and Instrument, Tianjin University,Tianjin 300072,China) |
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| Abstract: | A kind of flip robot is designed who is working between parallelled straight pipes.Based on the inner structure of the heating furnace tank and particular requirements of function,the integrated structure design idea of flip,walking,dust-cleaning function is put forward.Dynamic and static analysis on robot is performed by using the second Lagrange function and Newtonian mechanics principle,and design idea of control system based on the structure is discussed,and at the same time,turnover experiments are performed,which verifies the feasibility of the robot. |
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| Keywords: | robot pipe wall flip walking dust-cleaning |
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