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| 城市下水道清淤移动式机械手系统设计 | |
| 引用本文： | 顾立志,牛国玲,霍艳忠.城市下水道清淤移动式机械手系统设计[J].华侨大学学报(自然科学版),2009,30(1). |
| 作者姓名： | 顾立志 牛国玲 霍艳忠 |
| 作者单位： | 1. 华侨大学,机电及自动化学院,福建,泉州,362021 2. 佳木斯大学,机械工程学院,黑龙江,佳木斯,154007 3. 佳木斯大学,信息电子技术学院,黑龙江,佳木斯,154007 |
| 摘 要： | 设计一种可手动/远程控制的移动式清淤液压驱动机械手系统.分析其机械手机构、液压驱动与控制和可编程电器控制的功用、工作原理、组成结构,研究和设计其相关的运动学和动力学.通过可编程控制器,可实现对抓子、回转台上回转臂和升降臂的控制,完成清淤操作.提出抓取率的概念和抓端理想轨迹线,分析实际轨迹线及特性要求,推导出抓端运动方程,实现了作业的高效率和过程控制的自动化. |
| 关 键 词： | 机械手 下水道 抓取率 可编程逻辑控制器 |
Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas |
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| GU Li-zhi,NIU Guo-ling,HUO Yan-zhong.Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas[J].Journal of Huaqiao University(Natural Science),2009,30(1). | |
| Authors: | GU Li-zhi NIU Guo-ling HUO Yan-zhong |
| Institution: | 1.College of Mechanical Engineering and Automation;Huaqiao University;Quanzhou 362021;China;2.College of Mechanical Engineering;Jiamusi University;3.College of Information Science and Electronics;Jiamusi 154007;China |
| Abstract: | A mobile manipulator system with manually operated remote control and hydraulic servo-device is designed for sullage disposal in urban areas.The function,working principle and configuration of the 3 parts,i.e.,the mechanical system,the hydraulic-servo device and the programmable logic controller(PLC),are analyzed,moreover,the kinematics and dynamics of the manipulator system are analyzed for the further control.The sullage-disposal operation is implemented by the manual operated panel to make the PLC to man... |
| Keywords: | mechanical arm sewer catch ratio programmable logic controller |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |