油罐清洗机器人全方位移动机构的设计与分析  

Kinematical Analysis and Simulation of an Omni-Directional Migration Mechanism of an Oil Tank Cleaning Robot

作　　者：李悦 周利坤 

机构地区：[1]武警工程大学军交运输系,陕西西安710086

出　　处：《机械设计与制造》2013年第11期73-75,共3页Machinery Design & Manufacture

基　　金：陕西省重点学科建设专项资金资助项目(102-00x903)

摘　　要：油罐清洗机器人是一种可代替人工进行清洗油罐作业,从而减小作业危险系数和劳动强度的特殊服务智能机器人。为适应油罐狭小的工作空间,提高作业机动性和安全稳定性,设计了一种三轮全方位移动机构,硬件上由三个全向单元对称布局,结构简单且灵活,并通过远程主控制计算机实现精确控制;建立了其运动数学模型,并进行了运动学和动力学分析,得到了机构的运动特性;最后,利用ADAMS仿真软件建立虚拟样机进行运动仿真。结果表明:忽略硬件固有的缺陷,该机构具有全向移动的高机动性,可以很好实现预期目的。提出了今后改进和进一步研究的方向,为后续工作提供了很好的依据。Oil tank cleaning robots can take the place of human to clean the oil tanks to decrease the danger coefficient and working intensity.They belong to special intelligent serve robots.In order to adapt the narrow and small working space of the oil tank and improve the working flexibility and stability,a three-wheel omni-directional migration mechanism was designed here.Its layout includes three symmetrical omni-directional units which is simple and flexible and precisely controlled by a remote master control computer.Then building its kinematical mathematical model and doing the kinematical and dynamic analysis to get the kinematical character.At last,a virtual prototype was built for motion simulation in use of ADAMS simulation software.The result shows that the mechanism is highly flexible omni-directional migration to accomplish the anticipative goal regardless of the inherent defect.It puts forward the future improvement and research aspect to lay a better foundation for the subsequent job.

关 键 词：清洗机器人 移动机构 全方位 运动学 动力学 

分 类 号：TH16[机械工程—机械制造及自动化]