轨道摄影机器人瞬时转弯半径分析  

Analysis of instantaneous turning radius on the orbital photographic robot

作　　者：谢志坤 韩军[1] 冯虎田[1] Xie Zhikun;Han Jun;Feng Hutian(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2021年第10期19-23,共5页Machine Design and Manufacturing Engineering

摘　　要：针对轨道摄影机器人建立了运动学模型,结合轮轨简化模型,通过动力学分析以及车轮偏转角的计算,得到轨道摄影机器人的瞬时转弯半径R的动态方程。设计了位置检测装置以获得计算瞬时转弯半径R所需参数,从而实时获取轨道摄影机器人的瞬时转弯半径R,为轨道摄影机器人的轨迹规划提供理论基础以及为检测弯轨曲率提供依据。In this paper,the orbital photographic robot is taken as the research object.Combined with the wheel-rail simplified model,the dynamic equation of the instantaneous turning radius R is obtained through dynamic analysis and calculation of the wheel deflection angle.A position detection device is designed for the parameters which is needed for turning radius.The research provides theoretical basis for the trajectory planning of orbital photographic robot and provides the basis for detection of rail bending curvature.

关 键 词：轨道摄影机器人 运动学建模 瞬时转弯半径 

分 类 号：TH692.9[机械工程—机械制造及自动化]