管内恒力清刷机构及其动力学分析  

DYNAMIC ANALYSIS OF DERUST MECHANISM WITH CONSTANT TORQUE OPERATING IN PIPELINE

作　　者：邓宗全[1] 姜生元[1] 李瑰贤[1] 陈明[1] 李斌[1] 宋月娥[1] 

机构地区：[1]哈尔滨工业大学机械工程系,150001

出　　处：《机器人》2000年第3期224-229,共6页Robot

基　　金：国家 8 6 3计划智能机器人主题资助项目

摘　　要：本文提出了一种可实现恒摩擦力矩的管内清刷机构 ,并分别对该机构进行了静力学分析和动力学建模与分析 。In this paper,one kind of practical derust brush mechanism with constant friction torque operation inside pipe is developed.In order to modify the derust effectiveness,static analysis of the mechanism is conducted.Considering the eccentricity between pipe line axis and central line of robot and nonideal pipeline roundness,dynamic model of brush mechanism is set up,then dynamics respose is formulated,the results offer theoretical basis for its derust quality control and brush mechanism parameter optimization.

关 键 词：管内机器人 除锈清刷机构 动力学分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] U177[自动化与计算机技术—控制科学与工程]