| 穿地龙机器人轨迹规划及其运动过程仿真研究 |
| |
| 引用本文： | 王殿君,刘淑晶,薛龙,任福君,孟庆鑫.穿地龙机器人轨迹规划及其运动过程仿真研究[J].哈尔滨工业大学学报,2009,41(1):193-196. |
| |
| 作者姓名： | 王殿君 刘淑晶 薛龙 任福君 孟庆鑫 |
| |
| 作者单位： | 王殿君,WANG Dian-jun(北京石油化工学院机械工程学院,北京102617;清华大学精密仪器与机械学系,北京100084);刘淑晶,薛龙,LIU Shu-jing,XUE Long(北京石油化工学院机械工程学院,北京,102617);任福君,REN Fu-jun(哈尔滨理工大学机械与动力工程学院,哈尔滨,150080);孟庆鑫,MENG Qing-xin(哈尔滨工程大学机电学院,哈尔滨,150001)
|
| |
| 基金项目： | 黑龙江省科学技术计划 |
| |
| 摘 要： | 以建立的"穿地龙"机器人轨迹规划数学模型为计算机仿真模型,对"穿地龙"机器人工作时的运动过程进行了计算机仿真研究,编制了大量仿真程序,获得了较好的仿真结果.通过运行仿真程序,可以在计算机上直接观察到"穿地龙"机器人运动的过程.进行"穿地龙"机器人运动学、动力学仿真,该研究工作为改进"穿地龙"机器人试验样机设计,并为设计"穿地龙"机器人工作用机和进行"穿地龙"机器人的应用分析提供了一定的条件.
|
| 关 键 词： | “穿地龙”机器人 轨迹规划 运动过程 计算机仿真 |
Track programming and computer simulation of moving process of "mud puncturing dragon" robot |
| |
| WANG Dian-jun,LIU Shu-jing,XUE Long,REN Fu-jun,MENG Qing-xin.Track programming and computer simulation of moving process of "mud puncturing dragon" robot[J].Journal of Harbin Institute of Technology,2009,41(1):193-196. |
| |
| Authors: | WANG Dian-jun LIU Shu-jing XUE Long REN Fu-jun MENG Qing-xin |
| |
| Affiliation: | 1.Mechanical Engineering Academy,Beijing Institute of Petro-Chemical Technology,Beijing 102617,China;2.Dept.of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China;3.Harbin University of Science and Technology,Harbin 150080,China;4.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China) |
| |
| Abstract: | Taking track programming mathematical models of "mud puncturing dragon" robot as computer simulation models,the simulation of moving process of "mud puncturing dragon" robot by means of computer was studied.A number of simulation programs were programmed and some better simulation results were gotten.By running the simulation programs,the moving process of "mud puncturing dragon" robot can be observed directly.On the basis of above work,kinematics and dynamics simulation of "mud puncturing dragon" robot can be studied.Meanwhile,this research is beneficial to the design improvement of both the model machine and the practical machine of "mud puncturing dragon" robot,and to the application analysis of the robot as well. |
| |
| Keywords: | "mud puncturing dragon" robot track programming moving process computer simulation |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
