欢迎访问机床与液压官方网站!

咨询热线:020-32385312 32385313 RSS EMAIL-ALERT
排爆机器人前臂平衡机构的优化设计
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

基金项目:


Optimal Design of Pneumatic Balance Mechanism for Antebrachium of Explosive Ordnance Disposal Robot
Author:
Affiliation:

Fund Project:

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    排爆机器人是一种由激光引导与抓取系统、本体行走装置组成的机器人,可以代替相关人员进行一些危险作业。所研究的抓举系统主要由基座、后臂、前臂、机械手爪四部分组成,关节处的旋转和机械手爪开合均由舵机驱动。机械臂在俯仰过程中,为克服机械臂本身和外部负载产生的重力矩,需要舵机提供较大驱动力。为降低舵机提供的驱动力,提出对前臂采用恒推力气动平衡杆以平衡机械臂本身和外部负载,确定优化变量、约束条件和目标函数;利用MATLAB软件进行优化分析,得到气动杆最佳安装位置和最佳力,输出运动仿真图形,并验证所得优化结果的正确性

    Abstract:

    Explosive ordnance disposal robot is composed of laser guiding and grasping system and body walking device. It can replace related staff to do some dangerous work. The researched robot’s grasping system was mainly composed of a base, postbrachium, antebrachium and gripper. The rotation of the joint and the opening and closing of the mechanical hand were driven by the dynamixel. In order to overcome the torque generated by the robot arm and the external load,it was necessary to provide a proper driving force on the steering gear. Constant pneumatic balance rod was adopted to balance the mechanical arm and external load. The optimal variables, constraints and objective function were determined.Optimization analysis was carried out using MATLAB software, getting the best pneumatic rod installation position and the force. The motion simulation graphics were gotten and the correctness of the optimization results was verified.

    参考文献
    相似文献
    引证文献
引用本文

尹逊敏,张兴蕾,刘勰.排爆机器人前臂平衡机构的优化设计[J].机床与液压,2018,46(21):84-86.
. Optimal Design of Pneumatic Balance Mechanism for Antebrachium of Explosive Ordnance Disposal Robot[J]. Machine Tool & Hydraulics,2018,46(21):84-86

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:
  • 最后修改日期:
  • 录用日期:
  • 在线发布日期: 2019-07-09
  • 出版日期: