欢迎访问《轻工机械》稿件在线采编系统!设为首页 | 加入收藏    
稿件处理系统
期刊信息
  • 中国标准连:ISSN1005-2895
  • 续出版物号: CN 33-1180/TH
  • 主管单位:轻工业杭州机电设计研究院
  • 主办单位:轻工业杭州机电设计研究院、中国轻工机械协会、中国轻工业机械总公司
  • 社  长:刘安江
  • 主  编:黄丽珍
  • 地  址:杭州市余杭区高教路970号西溪联合科技广场4-711
  • 电子邮件:qgjxzz@126.com
理事单位          MORE>>
李茂生, 张春燕, 刘香玉, 宛宇.伤员转运机器人自平衡系统的运动学研究[J].轻工机械,2019,37(3):1-6
伤员转运机器人自平衡系统的运动学研究
Kinematics Analysis of Self Balancing System for Wounded Transfer Robot
  
DOI:10.3969/j.issn.1005 2895.2019.03.001
中文关键词:  转运机器人  自平衡  自由度  修正G K 公式  封闭矢量法  牛顿迭代法
英文关键词:wounded transfer robot  self balancing  freedom degree  modified G K formula  closed vector method  Newton iteration method
基金项目:上海市研究生科研创新项目基金资助(18KY0122)。
作者单位
李茂生, 张春燕, 刘香玉, 宛宇 上海工程技术大学 机械与汽车工程学院 上海201620 
摘要点击次数: 176
全文下载次数: 173
中文摘要:
      为了提高复杂灾变环境中伤员的救援效率和成功率,提出一种具有3R1T的4 UPS/PS并联机构作为伤员转运机器人的自平 衡系统。利用螺旋理论对自由度进行分析并通过修正的 G K公式进行检验;采用封闭矢量法求得各杆长与动平台位姿间的关系;建立数值解方程,采用牛顿迭 代法求解位置正解,利用数值验证正解的精度。通过ADAMS仿真软件对自平衡器的平衡过程进行运动性能仿真分析。实验结果表明机构运动性能优越,驱动性能 良好,具有很强的可控性和稳定性,适用于救援转运机器人。
英文摘要:
      In order to improve the efficiency of rescuing the wounded in the complex and catastrophic environment,a novel parallel mechanism with 3R1T was proposed,which could be used in self balancing system of the transfer robot. The degree of freedom was analyzed by using screw theory and tested by the modified G K formula. By utilizing the closed vector,the solution to the inverse kinematics and the relation between the length of each driving rod and the posture of the moving platform were obtained. The numerical solution equation of the self balancing system was established,and Newton iteration method was used to solve the position kinematics solution. The balancing process of the self balancing was simulated by ADAMS and motion performance was analyzed. The experimental results show that the self adjustment of the self balancing system can achieve the balance of the fixed platform of the mobile robot casualties,and the mechanism has excellent motion performance,good drive performance,strong controllability and stability,which is suitable for the rescue and transport robots.
查看全文  查看/发表评论  下载PDF阅读器
关闭