| 缆索机器人导向支撑机构动力学仿真研究 |
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| 引用本文： | 刘源,姜生元,周振雄.缆索机器人导向支撑机构动力学仿真研究[J].北华大学学报(自然科学版),2004,5(4):373-376. |
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| 作者姓名： | 刘源 姜生元 周振雄 |
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| 作者单位： | 武汉化工学院,机械系,湖北,武汉,430073;北华大学,机械工程学院,吉林,吉林,132013 |
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| 摘 要： | 利用机械动力学分析软件ADAMS建立了气动式缆索机器人导向支撑机构的仿真模型,并得到了缆索机器人作业姿态角、支撑刚度、预紧力、支撑轮尺寸等因素对机器人本体作业偏移量的影响关系,为机器人设计参数的合理确定及优化设计奠定了基础.
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| 关 键 词： | 缆索机器人 导向支撑机构 动力学仿真 |
| 文章编号： | 1009-4822(2004)04-0373-04 |
| 修稿时间： | 2004年3月30日 |
Dynamic Simulation Analysis on Guiding Mechanism for Cable Climbing Robot |
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| LIU Yuan,JIANG Sheng-yuan,ZHOU Zhen-xiong.Dynamic Simulation Analysis on Guiding Mechanism for Cable Climbing Robot[J].Journal of Beihua University(Natural Science),2004,5(4):373-376. |
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| Authors: | LIU Yuan JIANG Sheng-yuan ZHOU Zhen-xiong |
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| Affiliation: | LIU Yuan~1,JIANG Sheng-yuan~2,ZHOU Zhen-xiong~2 |
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| Abstract: | This paper uses mechanical dynamic analysis software ADAMS to build a parametric model of guiding mechanism for cable climbing robot, the guiding mechanism can keep robot and cable have a common center. By using ADAMS software, real-time simulation for many factors is conducted, including operation attitude angles, supporting stiffness, preload, dimension of supporting wheels, to find the offset rule of robot body. The method presented in this paper can provide a basis for mechanism optimizing design of cable climbing robot. |
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| Keywords: | Cable climbing robot Guiding mechanism Dynamic simulation |
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