本文選題：檢測(cè)機(jī)器人 + 機(jī)械手　； 參考：《機(jī)械傳動(dòng)》2017年06期

【摘要】：針對(duì)煤礦無(wú)人區(qū)域的實(shí)際情況,設(shè)計(jì)并研制了一種四輪驅(qū)動(dòng)式小空間檢測(cè)機(jī)器人系統(tǒng),用以井下環(huán)境信息和樣品的采集。機(jī)器人結(jié)構(gòu)主要由機(jī)器人本體、移動(dòng)機(jī)構(gòu)、控制器和機(jī)械臂機(jī)構(gòu)等組成。主要介紹機(jī)器人的系統(tǒng)組成,并對(duì)5自由度機(jī)械手進(jìn)行動(dòng)力學(xué)和靜力學(xué)分析,驗(yàn)證其結(jié)構(gòu)設(shè)計(jì)的合理性和實(shí)際工作中的承載性能。分析結(jié)果表明,機(jī)械手各關(guān)節(jié)力矩的變化穩(wěn)定且均未超過(guò)電機(jī)所能提供的極限值;小臂最大變形0.012 397 mm,最大應(yīng)力15.802 9 MPa均對(duì)系統(tǒng)結(jié)構(gòu)影響很小,從而說(shuō)明5自由度機(jī)械手選型準(zhǔn)確,結(jié)構(gòu)設(shè)計(jì)合理,能夠滿足煤礦實(shí)際工作需求。
[Abstract]:According to the actual situation of uninhabited area in coal mine, a four-wheel-drive small space detection robot system is designed and developed, which can be used to collect underground environmental information and sample. Robot structure is mainly composed of robot body, mobile mechanism, controller and manipulator. This paper mainly introduces the system composition of the robot, and analyzes the dynamics and statics of the five-degree-of-freedom manipulator to verify the rationality of its structural design and its bearing capacity in practical work. The results show that the variation of the joint torque of the manipulator is stable and does not exceed the limit value provided by the motor, and the maximum deformation of the forearm is 0.012 mm and the maximum stress of 15.802 9 MPa has little effect on the structure of the system. The result shows that the 5 DOF manipulator is accurate in selection, reasonable in structure design, and can meet the practical requirements of coal mine.
【作者單位】： 安徽農(nóng)業(yè)大學(xué)工學(xué)院;中國(guó)科學(xué)院等離子物理研究所;
【基金】：安徽省科技攻關(guān)計(jì)劃項(xiàng)目(1301022075)
【分類號(hào)】：TD76;TP242
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本文編號(hào)：1940214