摘要
以管道清灰机器人为研究对象,建立了该机器人操作臂机构简图。利用解析法对机器人操作臂位置、速度、加速度进行了分析,给出了末端操作器的位置、速度、加速度解。利用Matlab编制计算程序,基于Simulink建立了仿真模型,对管道清灰机器人进行了动态仿真,验证了运动分析的正确性。
Regarding in-pipe clearing ash robot in exhaust gas pipeline of metal smeltery as the research object, operating arm framework sketch of the robot is set up. Utilizing the analytic method the arm displacement, speed and acceleration are analyzed and solved. Computing program is designed in Matlab. Simulation model of the robot mechanical system is set up in Simulink and the robot dynamic simulation is carried on. The correctness of kinematic analysis was verified.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2006年第9期149-152,165,共5页
Transactions of the Chinese Society for Agricultural Machinery
关键词
管道清灰机器人
操作臂
解析法
仿真
In-pipe clearing ash robot, Operating arm, Analytic method, Simulation
