管道清灰机器人操作臂运动分析模型的建立  

Establishment of Motion Analysis Model of Pipe Cleaning Robot Manipulator

作　　者：罗海玉[1] 马永福 

机构地区：[1]天水师范学院工学院,天水741001 [2]中国铝业有限公司连城分公司,兰州730335

出　　处：《湖南工程学院学报（自然科学版）》2012年第1期52-54,共3页Journal of Hunan Institute of Engineering(Natural Science Edition)

基　　金：天水师范学院中青年教师科研资助项目(TS1009)

摘　　要：从管道清灰机器人操作臂机构特点出发,将其分解为举升机构和翻转机构两大功能机构模块.对各杆角度方向做出一些特殊规定,在此基础上,分别建立缸杆机构和斗杆机构的运动学模型并对其进行运动分析,建立了操作臂机构角位移和传动角的解析表达式.为管道清灰机器人操作臂机构的优化设计奠定了基础.From the body characteristics of pipe cleaning robot arm, the lifting and flip mechanism function blocks are decomposed. Some special provisions are given for the direction of the lever angle. On this basis, institutions are established and the bucket cylinder rod-bar mechanism and its kinematic model of motion are analyzed. The establishment is made of institutions operating arm angular displacement and is made the analytical expressions of transmission angle is given. It lays foundation for optimizing design of the pipe cleaning robot arm.

关 键 词：管道清灰机器人 操作臂 运动分析 

分 类 号：TH113[机械工程—机械设计及理论]