管道清灰机器人操作臂的图解法设计  

Graphically Design on the Operating Arm of In-pipe Clearing Ash Robot

作　　者：罗海玉[1] 杨萍[2] 张淑珍[2] 

机构地区：[1]天水师范学院工学院,甘肃天水741001 [2]兰州理工大学机电工程学院,甘肃兰州730030

出　　处：《天水师范学院学报》2010年第2期88-90,共3页Journal of Tianshui Normal University

摘　　要：采用图解法对管道清灰机器人操作臂进行结构设计,利用操作臂各杆之间相对运动的几何关系,通过作图确定各铰接点的位置,定出各杆的尺寸,从而实现动臂的设计、连杆机构的设计及各部件几何形体的确定.其设计方法简单、直观,设计精度基本能满足工作要求,为管道清灰机器人操作臂的优化设计提供了初始值,进而可以节省大量的设计时间.The operating arm structure of in-pipe clearing ash robot was designed by the graphically method in this paper. Based on the geometry relations between rods of operating arm relative motion, every articulated point position and the size of rods were determined by mapping so as to realize the design of moving arms and linkage mechanism and determination of all components geometric shape. The method of design is simple and visual, its design accuracy is able to meet operational requirements and provide initial values for optimization design of the in-pipe clearing ash robot＇s operating arm and save a lot of design time.

关 键 词：机器人 操作臂 图解法 设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]