本文選題：擦玻璃機(jī)器人 + 履帶驅(qū)動(dòng)��； 參考：《真空科學(xué)與技術(shù)學(xué)報(bào)》2017年04期

【摘要】：針對負(fù)壓吸附式擦玻璃機(jī)器人(WCR),提出在泄漏條件下的負(fù)壓腔(NPC)流體模型建立方法,并進(jìn)行仿真分析和實(shí)驗(yàn)驗(yàn)證。對擦玻璃機(jī)器人進(jìn)行靜力學(xué)分析,得到機(jī)器人安全吸附在玻璃表面的負(fù)壓值;由于負(fù)壓腔與玻璃之間存在氣隙,建立泄漏條件下的負(fù)壓腔流體模型,將負(fù)壓系統(tǒng)簡化為RC等效電路,負(fù)壓響應(yīng)特性為慣性環(huán)節(jié)。最后對負(fù)壓腔流體模型進(jìn)行計(jì)算流體力學(xué)仿真,通過實(shí)驗(yàn)測定負(fù)壓腔的壓力分布,驗(yàn)證了負(fù)壓腔流體模型的準(zhǔn)確性。通過提出一種負(fù)壓系統(tǒng)分析方法,為采用負(fù)壓吸附方式的擦玻璃機(jī)器人提供了設(shè)計(jì)依據(jù)。
[Abstract]:In view of the negative pressure adsorption glass erasing robot (WCRC), a method for establishing the fluid model of the negative pressure cavity (NPC) under the condition of leakage is proposed, and the simulation analysis and experimental verification are carried out. Through static analysis of glass erasing robot, the negative pressure value of the robot safely adsorbed on the glass surface is obtained. Because of the air gap between the negative pressure chamber and the glass, the fluid model of the negative pressure chamber under the condition of leakage is established. The negative pressure system is simplified as RC equivalent circuit and the negative pressure response characteristic is inertial link. Finally, the computational fluid dynamics simulation of the negative pressure chamber fluid model is carried out, and the pressure distribution of the negative pressure chamber is measured by experiments, which verifies the accuracy of the negative pressure chamber fluid model. A negative pressure system analysis method is proposed, which provides a basis for the design of glass erasing robot with negative pressure adsorption.
【作者單位】： 河北工業(yè)大學(xué)機(jī)械工程學(xué)院;
【基金】：機(jī)器人學(xué)國家重點(diǎn)實(shí)驗(yàn)室基金課題(401385)
【分類號】：TP242

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本文編號：1908971