焦炉测温机器人运动学仿真及试验  

Kinematics Simulation and Experiment of Temperature Measuring Robot on Coke Oven

作　　者：罗璐 郭文亮[1,2] 韩念琛 LUO Lu;GUO Wen-liang;HAN Nian-chen(College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Research Institute of Machinery and Electronics,Taiyuan University of Technology,Taiyuan 030024,China;College of Chemistry and Chemical Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]太原理工大学机械工程学院,太原030024 [2]太原理工大学机械电子工程研究所,太原030024 [3]太原理工大学化学化212学院,太原030024

出　　处：《煤炭技术》2018年第12期245-247,共3页Coal Technology

基　　金：山西省重点研发计划项目(201603D421036);山西省科技重大专项(MJH2015-04)

摘　　要：针对焦化厂人工测量焦炉立火道温度过程中普遍存在的劳动强度大、测量误差大等问题,设计了一种用于焦炉测温的移动机器人。运用D-H参数法建立了测温机器人的运动学方程,对机器人末端执行器的运动进行理论推导,并利用ADAMS软件对机器人进行运动学仿真研究,最后利用测温机器人物理样机对运动过程进行测试。结果表明,机器人结构设计合理,运动学性能良好,能够满足焦炉测温需求。The mobile robot for coke oven temperature measurement is designed for the problems of large labor intensity and large measurement error in the manual measurement of the coke oven flue temperature.The kinematic equation of the temperature measuring robot is established based on D-H method.The theoretical derivation for the robot terminal actuator motion is overturned,and the kinematics simulation research of the robot is studied by using ADAMS software.Finally,the physical prototype of the temperature measuring robot is used to test the motion process.The results show that the robot has reasonable structure design and good kinematics performance,which can meet the demand of coke oven temperature measurement.

关 键 词：测温机器人 直角坐标机器人 运动学分析 ADAMS虚拟样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]