机械科学与技术2017，Vol.36Issue(10)：1530-1535,6.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
Kinematics and Statics Analysis of an Novel Pipeline Robot
摘要
Abstract
A novel leg-toe type pipeline robot based on the parallel mechanism was proposed.The robot has adopted the parallel mechanism as the moving-cartier and the connecting rod type leg-toe mechanism as the walking device.A solid model for robot was built,and its working principle and characteristics was explained.By using the vector method and the principle of virtual work,the kinematics and statics formulae were derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator.Finally,an numeric example was given for explaining the present kinematics and statics formulae.The robot has a strong obstacleclimbing ability and environment adaptability.关键词
并联机构/腿足式/管道机器人/运动学/静力学Key words
parallel mechanism/leg-toe type/pipeline robot/kinematics/statics分类
信息技术与安全科学引用本文复制引用
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):1530-1535,6.基金项目
秦皇岛市科技支撑计划项目(201502A011)资助 （201502A011）
