船舶除锈机器人转向运动学分析  

Steering Kinematics Analysis on Ship Rust Removal Robot

作　　者：孙玲[1] 弓永军[1] 王祖温[1] 张增猛[1] 

机构地区：[1]大连海事大学船舶机电装备研究所,辽宁大连116026

出　　处：《机械设计与制造》2014年第7期189-191,195,共4页Machinery Design & Manufacture

基　　金：国家自然基金项目(51275063);国家国际科技合作专项(2011DFR70990);大连市科技计划项目(2012F11GH062)

摘　　要：根据船舶壁面除锈的工作要求,设计了一种能够在船舶壁面上运动的自动控制履带式超高压水射流爬壁除锈机器人。主要研究履带式除锈机器人附壁的转向运动学问题。介绍了船舶壁面除锈机器人的组成及特点,推导出船舶壁面爬行机器人的直线运动及瞬心转向运动学模型。运用matlab软件对机器人的转向运动学模型进行分析,表明除锈机器人转向要通过左右两行走机构的速度差实现,且其合运动速度受到一定的外力影响。通过实验发现,磁吸附力对转向灵活性有影响。According to the work requirements of ship wall cleaning, it designs a kind of automatic control tracked robot which can climbs on the wall and removes rust with ultral high pressure water jet. The steering kinematics problem of the robot is studied. The composition and characteristic of the robot is introduced, and the kinematics model of linear motion and the instantaneous center steering of the robot is derivated. Steering kinematics model is analyzed with Matlab software, and the result shows that steering movement is available by different speed with two travelling mechanism, and the movement speed is affected by some external force. The laboratory study shows that steering flexibility of the robot is influent by the magnetic adsorption.

关 键 词：船舶除锈 机器人 运动学 瞬心模型 

分 类 号：TH16[机械工程—机械制造及自动化]