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为解决装卸过程中贵重载荷的水平调节问题,在分析了现有调节技术和装置优缺点的基础上,设计了绳索牵引自动水平调节机器人完成倾角调节.介绍了绳索牵引自动水平调节机器人的总体结构设计,根据力平衡、力矩平衡以及几何约束条件推导了系统的二维模型,用相似的方法从2种不同思路分别建立了系统的三维模型,讨论了2模型各自的优缺点.简要说明了控制系统的相关问题(结构设计、原理)和系统基本工作流程,总结了机器人系统的主要特点.
Based on the analysis of the advantages and disadvantages of the existing adjusting technologies and devices, an automatic leveling robot with rope traction is designed to complete the adjustment of the tilting angle.This paper introduces the overall structure of the automatic horizontal leveling robot with rope towing The two-dimensional model of the system is deduced according to the balance of forces, moment balance and geometric constraints, and the three-dimensional models of the system are established respectively from two different approaches with similar methods. The advantages and disadvantages of the two models are discussed respectively. System-related issues (structural design, principles) and system basic workflow, summarizes the main features of the robot system.