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针对城市地下隧道电缆不便于人工检测的问题,设计了一种具有较强适应能力的履带式电缆隧道巡检机器人,报告了目前城市地下电缆检测的现状。阐述了机器人的特点和工作过程,进行了传动机构运动学分析。利用Pro/E软件的设计功能,主要建立机器人行走机构的三维实体模型,装配并对行走机构的运动学特性进行仿真。获得了行走机构上一点的位置、角速度、角加速度曲线。
In view of the inconvenient manual detection of urban underground tunnel cables, a kind of crawler cable tunnel inspection robot with strong adaptability is designed and the present status of urban underground cable detection is reported. Described the robot’s characteristics and working process, carried out kinematic analysis of the transmission mechanism. By using the design function of Pro / E software, the 3D solid model of the robot walking mechanism is mainly built and the kinematics characteristics of the walking mechanism are simulated. Access to the walking mechanism on the position, angular velocity, angular acceleration curve.