[1]罗继曼,刘思远,戴璐璐,等.管道机器人清淤装置设计与动力特性研究[J].机械与电子,2018,(08):75-80.
　LUO Jiman,LIU Siyuan,DAI Lulu,et al.Research on Design and Dynamic Characteristics of Pipeline Robot Dredging Device[J].Machinery & Electronics,2018,(08):75-80.
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管道机器人清淤装置设计与动力特性研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年08期
页码:
75-80
栏目:
智能工程
出版日期:
2018-08-24

文章信息/Info

Title:
Research on Design and Dynamic Characteristics of Pipeline Robot Dredging Device
文章编号:
1001-2257(2018)08-0075-06
作者:
罗继曼; 刘思远; 戴璐璐; 郭松涛
(沈阳建筑大学机械工程学院,辽宁 沈阳 110168)
Author(s):
LUO Jiman; LIU Siyuan; DAI Lulu; GUO Songtao
(College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168,China)
关键词:
管道清淤机器人;  清淤盘;  动力特性;  ADAMS;  仿真分析
Keywords:
pipeline dredging robot;  dredging plate;  dynamic characteristics;  ADAMS;  simulation analysis
分类号:
TH113.2
文献标志码:
A
摘要:
为疏通城市排污管道,设计一种新型管道清淤机器人,为证明其清淤作业的稳定性和可行性,对清淤装置进行了动力学特性研究。建立该管道机器人三维模型,对其清淤装置进行原理分析; 对清淤盘模型进行运动学建模与仿真,并将MATLAB运动仿真曲线与ADAMS运动仿真曲线进行拟合,验证运动方程的正确性; 建立清淤盘动力学数学模型,并基于ADAMS 软件进行仿真,研究动力学正、逆问题,得到扇形盘的运动曲线和受力曲线。结果表明,运动方式和运动规律满足清淤方式为刮削—搅拌—过滤—推进—四位一体的清淤作业要求,动态性能稳定。
Abstract:
In order to dredge the urban sewage pipeline, a new type of pipeline dredging robot is designed. Additionally, the dynamic characteristics of the dredging device are studied to prove the stability and feasibility of the dredging operation. In this study, the three-dimensional model of the pipeline robot was firstly established to analyze the principle of the dredging device. Secondly, the kinematics modeling and the simulation of the dredging disc model were carried out. Thirdly, the MATLAB motion simulation curve is fitted with the ADAMS motion simulation curve to verify the correctness of the motion equation. Fourthly, the mathematical model of dredging disc dynamics was built,and the simulation was conducted by ADAMS software to study the forward and inverse dynamics problems, based on which, the motion curve and force curve of the fan-shaped disc were obtained. The results show that the motion mode and the movement rule can meet the requirements of scraping-mixing-filtering-propulsion, a four-in-one dredging operation, and the dynamic performance is stable.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-05-30
基金项目: 国家自然科学基金项目( 51575365); 辽宁省自然科学基金项目( 201602620)
作者简介:罗继曼(1966-),女,教授,博士,研究方向为机器人设计、工程机械等; 刘思远(1991-),男,辽宁绥中人,硕士,研究方向为机械工程。
更新日期/Last Update: 2018-08-24