机械制造与自动化Issue(5)：117-121,5.DOI:10.19344/j.cnki.issn1671-5276.2017.05.030
一种新型管道清洁机器人撑开机构动力学分析及其仿真
Dynamic Analysis and Simulation of Modified Stretching Mechanism of In-pipe Cleaning Robot
摘要
Abstract
This paper takes the in-pipe cleaning robot as the research object and establishes its three-dimensional structure model, For the robot movement interference exists in reduced tube, elbow and tee tube, a new type of the open mechanism is put forward, then the motion diagram of the stretching mechanism is drawn, Newton-Euler method is used to set up and solve the dynamic equa-tion of the stretching mechanism, its dynamic simulation model is established with ADAMS software and its dynamic analysis is done. The simulation result shows that the force on all links is up to its maximum value when the direction of slider velocity changes.关键词
管道清洁机器人/撑开机构/ADAMS/动力学/仿真Key words
in-pipe cleaning robot/stretching mechanism/ADAMS/dynamics/simulation分类
信息技术与安全科学引用本文复制引用
张淑珍,慕东,崔之超,赵培..一种新型管道清洁机器人撑开机构动力学分析及其仿真[J].机械制造与自动化,2017,(5):117-121,5.
