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一种新型管道机器人的运动学及静力学分析

于晶晶 路懿

于晶晶, 路懿. 一种新型管道机器人的运动学及静力学分析[J]. 机械科学与技术, 2017, 36(10): 1530-1535. doi: 10.13433/j.cnki.1003-8728.2017.1008
引用本文: 于晶晶, 路懿. 一种新型管道机器人的运动学及静力学分析[J]. 机械科学与技术, 2017, 36(10): 1530-1535. doi: 10.13433/j.cnki.1003-8728.2017.1008
Yu Jingjing, Lu Yi. Kinematics and Statics Analysis of an Novel Pipeline Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(10): 1530-1535. doi: 10.13433/j.cnki.1003-8728.2017.1008
Citation: Yu Jingjing, Lu Yi. Kinematics and Statics Analysis of an Novel Pipeline Robot[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(10): 1530-1535. doi: 10.13433/j.cnki.1003-8728.2017.1008

一种新型管道机器人的运动学及静力学分析

doi: 10.13433/j.cnki.1003-8728.2017.1008
基金项目: 

秦皇岛市科技支撑计划项目(201502A011)资助

详细信息
    作者简介:

    于晶晶(1981-),讲师,博士研究生,研究方向为并联机器人技术及应用,2759@hevttc.edu.cn

Kinematics and Statics Analysis of an Novel Pipeline Robot

  • 摘要: 提出一种采用并联机构作为移动载体,连杆式腿足机构作为行走装置的管道机器人。创建机器人的三维实体模型,阐明了它的工作原理及行走特点;运用矢量法和虚功原理建立了机器人的运动学模型和静力学模型,得到腿部驱动力与并联机构的驱动力/约束力之间的映射关系。最后,给出数值算例验证所建理论模型的正确性。该机器人具有良好的越障、承载能力和管道适应性。
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出版历程
  • 收稿日期:  2016-05-10
  • 刊出日期:  2017-10-05

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