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油罐清洗机器人运动倾覆稳定性分析与仿真

周利坤 付贵永

周利坤, 付贵永. 油罐清洗机器人运动倾覆稳定性分析与仿真[J]. 机械科学与技术, 2015, 34(4): 533-537. doi: 10.13433/j.cnki.1003-8728.2015.0409
引用本文: 周利坤, 付贵永. 油罐清洗机器人运动倾覆稳定性分析与仿真[J]. 机械科学与技术, 2015, 34(4): 533-537. doi: 10.13433/j.cnki.1003-8728.2015.0409
Zhou Likun, Fu Guiyong. Analysis and Simulation of Tumble Stability of Oil Tank Cleaning Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(4): 533-537. doi: 10.13433/j.cnki.1003-8728.2015.0409
Citation: Zhou Likun, Fu Guiyong. Analysis and Simulation of Tumble Stability of Oil Tank Cleaning Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(4): 533-537. doi: 10.13433/j.cnki.1003-8728.2015.0409

油罐清洗机器人运动倾覆稳定性分析与仿真

doi: 10.13433/j.cnki.1003-8728.2015.0409
基金项目: 

陕西省重点学科建设专项资金项目(102-00x903)资助

详细信息
    作者简介:

    周利坤(1970-),副教授,博士,硕士生导师,研究方向为油库站建设、机器人设计等,172548703@qq.com

Analysis and Simulation of Tumble Stability of Oil Tank Cleaning Robot

  • 摘要: 油罐清洗机器人是一种针对油罐罐底油泥实施自动化清洗而研发的特殊机器人。在分析其罐底工作环境及工作流程的基础上,运用动态能量稳定锥方法分析了罐壁和罐底:“盲区”油泥清洗的工作稳定性。通过ADAMS环境下的仿真实验,该机器人运动速度在v=0.5 m/s 以内时,机器人不发生倾覆,在机体倾斜角度Ø=30°时,脉冲水射流出口速度宜控制在u=100 m/s以内,保证机器人倾覆稳定性,实现油罐“盲区”油泥清洗。仿真结果与该机器人设计参数基本相符,能够实现对油罐罐底油泥的清洗。
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出版历程
  • 收稿日期:  2013-05-19
  • 刊出日期:  2015-04-05

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