| 基于解析法的管道清灰机器人操作臂分析及仿真 |
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| 引用本文： | 张淑珍,杨萍,党兴武.基于解析法的管道清灰机器人操作臂分析及仿真[J].农业机械学报,2006,37(9):149-152,165. |
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| 作者姓名： | 张淑珍 杨萍 党兴武 |
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| 作者单位： | 1. 兰州理工大学机电工程学院,730050 兰州市
2. 兰州理工大学机电工程学院 |
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| 摘 要： | 以管道清灰机器人为研究对象，建立了该机器人操作臂机构简图。利用解析法对机器人操作臂位置、速度、加速度进行了分析，给出了末端操作器的位置、速度、加速度解。利用Matlab编制计算程序，基于Simulink建立了仿真模型，对管道清灰机器人进行了动态仿真，验证了运动分析的正确性。
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| 关 键 词： | 管道清灰机器人 操作臂 解析法 仿真 |
| 收稿时间： | 04 26 2005 12:00AM |
| 修稿时间： | 2005-04-26 |
Kinematics Analysis and Simulation for Operating Arm of In-pipe Clearing Ash Robot Based on Analytic Method |
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| Zhang Shuzhen,Yang Ping,Dang Xingwu.Kinematics Analysis and Simulation for Operating Arm of In-pipe Clearing Ash Robot Based on Analytic Method[J].Transactions of the Chinese Society of Agricultural Machinery,2006,37(9):149-152,165. |
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| Authors: | Zhang Shuzhen Yang Ping Dang Xingwu |
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| Institution: | Lanzhou University of Technology |
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| Abstract: | Regarding in-pipe clearing ash robot in exhaust gas pipeline of metal smeltery as the research object, operating arm framework sketch of the robot is set up. Utilizing the analytic method the arm displacement, speed and acceleration are analyzed and solved. Computing program is designed in Matlab. Simulation model of the robot mechanical system is set up in Simulink and the robot dynamic simulation is carried on. The correctness of kinematic analysis was verified. |
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| Keywords: | In-pipe clearing ash robot Operating arm Analytic method Simulation |
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