Title

基於轉向機構的“穿地龍”機器人運動學研究

Translated Titles

Research on Kinematics of "Dragon of Puncturing Mud" Robot Based on Turning Device

Authors

張忠林(Zhong-Lin Zhang);孟慶鑫(Qing-Xin Meng);王華(Hua Wang)

Key Words

穿地龍機器人 ; 非開挖技術 ; 轉向機構 ; 運動學仿真 ; 軌跡規劃 ; Dragon of Puncturing Mud robot ; trenchless technology ; turning device ; kinematics simulation ; trajectory planning

PublicationName

機器人

Volume or Term/Year and Month of Publication

27卷6期(2005 / 11 / 01)

Page #

550 - 554

Content Language

簡體中文

Chinese Abstract

介紹了國外有代表性的可控氣動矛設備方向可控的特點。按照“穿地龍”機器人的轉向機理,提出了“穿地龍”機器人的轉向機構方案。敍述了該機構中頭部的擺動原理,建立了“穿地龍”機器人的運動軌跡方程,並進行了仿真分析,為“穿地龍”機器人的動力學分析以及位姿檢測系統的研究打下了基礎。

English Abstract

This paper presents the characteristics of the world representative air-powered impacting mole of which the direction is controllable. According to the turning principle of ”Dragon of Puncturing Mud” robot, we put forward a design scheme on the turning device of ”Dragon of Puncturing Mud” robot. Swaying principle of the robot head is described, and the motion track equation of ”Dragon of Puncturing Mud” robot is established and analyzed by kinematics simulation. The theoretical foundation is provided for dynamics analysis and pose measurement of ”Dragon of Puncturing Mud” robot.

Topic Category 基礎與應用科學 > 資訊科學
工程學 > 工程學總論
工程學 > 機械工程