摘要
提出一种采用并联机构作为移动载体,连杆式腿足机构作为行走装置的管道机器人。创建机器人的三维实体模型,阐明了它的工作原理及行走特点;运用矢量法和虚功原理建立了机器人的运动学模型和静力学模型,得到腿部驱动力与并联机构的驱动力/约束力之间的映射关系。最后,给出数值算例验证所建理论模型的正确性。该机器人具有良好的越障、承载能力和管道适应性。
A novel leg-toe type pipeline robot based on the parallel mechanism was proposed. The robot has adopted the parallel mechanism as the moving-carrier and the connecting rod type leg-toe mechanism as the walking device.A solid model for robot was built,and its working principle and characteristics was explained. By using the vector method and the principle of virtual work,the kinematics and statics formulae were derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally,an numeric example was given for explaining the present kinematics and statics formulae. The robot has a strong obstacle-climbing ability and environment adaptability.
出处
《机械科学与技术》
CSCD
北大核心
2017年第10期1530-1535,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
秦皇岛市科技支撑计划项目(201502A011)资助
关键词
并联机构
腿足式
管道机器人
运动学
静力学
parallel mechanism
leg-toe type
pipeline robot
kinematics
statics
