轮履组合式环保机器人轮式行走分析
- 文件大小:1.02MB
- 浏览次数:
- 发布时间:2014-03-21
本资料包含pdf文件1个,下载需要1积分
针对复杂的室外环境,设计了一种轮履组合式环保机器人,阐述轮履变换装置的结构实现形式,并设计其保护装置,保证轮履变换的稳定性,机器人可根据所处的环境变换行走机构,提高了机器人对环境的适应能力.在uGNX中建立机器人的三维模型.分别建立机器人车轮在非滑移状态下以及滑移状态下移动车体的运动学、动力学模型,同时建立非滑移状态下机器人整体的运动学、动力学方程,分析机械手与车体之间的耦合性,并运用Mat―lab进行动力学数值仿真.结果表明在低速运行条件下两者之间的耦合并不十分明显,但耦合是存在的.所得结果为以后机器人控制系统设计提供了理论依据. According to the complicated environment of the outdoors, a wheeled-tracked environ- mental robot was designed, the structure realization of the track-wheel device was expounded, also the protection device was designed to ensure the stability of the transformation. The mobile mechanism of robots may be changed according to the changing environment so as to improve the robot adaptation ability to the environment. A model was established in UG NX. Both the kinematic and the dynamic model of the robot with the wheels in the non-slip and slip condition were separately established,also Lagrange dynamics equation in the non-slip condition was built, the dynamitic coupling between the manipulator and mobile platform was analysed, the numerical simulation was finished in Matlab,it is concluded that the coupling between the two is not very clear in the low speed, but it is real in presence,the results provide a theoretical basis for the control system.
- 1工程监理档案的三个特点
- 2CJ/T 73-1999 城市污水 总砷的测定 二乙基二硫代氨基甲酸银分光光度法
- 3CB 1264-1995 舰用电源汇流排自动转换装置 通用规范
- 4疾病预防控制中心实验楼吊篮安装使用方案
- 5聚氯乙烯设备图
- 6美的电饭煲(零件图和装配图)proe设计
- 7双回路转角塔施工图
- 8建筑安装工程施工监理工程师手册
- 9交通部公路试验检测员考试考资料精萃
- 10UG建模和仿真
- 11SB/T 10432-2007 木材防腐剂 铜氨(胺)季铵盐(ACQ)
- 12FZ/T 93002-1991 纺纱和捻线平面钢领用钢丝圈
- 13国家投资用省级投监利县土地整理项目第二标段施工组织设计
- 14混料器全套CAD图纸全套CAD图纸
- 15CAD建筑常用柱子等图块