共查询到19条相似文献，搜索用时 125 毫秒
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针对缆索的安全高效的维护,设计出一种履带式缆索机器人系统,机器人采用履带机构沿着缆索进行爬升,爬行能力强,运行稳定,柔性夹紧机构的设计使其能够自动适应缆索直径的变化,使整机结构新颖、紧凑;开发了适应缆索机器人工作环境要求的无线遥控控制系统。 相似文献
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介绍一种基于网络远程控制的检测机器人系统取代人工检测方式完成焊缝检测,该系统由检测机器人与控制系统两部分组成。机器人的设计原理,特别是机器人的固定支座设计具有创新性,可在直径变化范围为椎100mm—椎400mm的管道上安装和保证合适的夹紧,实现精确的自动定心;采用剖分式结构能快速定位安装和连接。采用分布式控制方式保证了机器人关节间运动的同步性,避免机器人各关节在运动过程中不同步造成的运动不协调。 相似文献
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针对灾后输电铁塔的损坏情况及输电铁塔安全检测的需求,介绍了一种灾后输电铁塔损伤检测机器人攀爬越障部分的机构设计和各机构的工作原理,分析了该机器人攀爬越障部分的运动过程.通过Pro/E仿真模拟和慧鱼模型制作试验,证实该机器人能在输电铁塔上攀爬,可自主越障,具有良好工作性能.该机器人能替代人工上塔检修,提高检修工作安全性. 相似文献
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蛇形机器人各种单元连接结构中,单关节内万向节连接形式具有单元少、结构协调性好等优点.从生物蛇身体结构出发,结合蛇形机器人工作环境,设计一种单关节内万向节连接形式的仿生蛇形机器人结构.对常用万向节结构所用十字轴的分体设计,简化了机器人的结构形式,机器人单元长度为91 mm,单元直径为80mm,机器人零件数量为521件. 相似文献
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l 设计概况 如图1所示的悬索通廊由武汉钢铁设计研究院设计,为全钢单跨单链式悬索结构,跨度70.230m,通廊面宽4.500m,高7.000m(相对标高),设计均布荷载2500N/m~2,系武钢综合煤场皮带通廊的一部分。设计悬索支柱为型钢格构柱,柱顶标高18.000m(相对标高)。主索二根,矢高9.000m,呈y=2px~2二次抛物线,每根主索由二根直径φ47.5mm的6×37 1麻芯钢丝绳用绳夹夹在一起组成,每边边索为六根单根同样直径的钢丝绳,主、边索分别绕过支柱顶的滑轮片用绳夹锚固,边索下端采用铸钢锚环套筒浇锌、铜、铝合金锚固。吊杆间距3m,为30mm园钢,其上设有可调节长度的正反螺旋扣。通廊面为型钢骨架,钢板铺面(见图2)。 相似文献
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介绍了一种学生实训运货机器人的设计方案．该机器人的机械结构由底盘行进机构和机械手构成。其底盘行进机构采用四轮对称排列结构形式,两后轮作为驱动轮,分别由不同电机驱动．机械手能完成货物的抓取、提升、释放等多种动作．该机器人以单片机为控制核心、采用PD巡线控制算法进行巡线运行．整个系统具有制作成本低、设计简捷、易于学生动手制作等特点． 相似文献
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文章介绍了一种伸缩杆-水平滑块式三自由度并联机器人机构，根据该机构的结构建立了其运动学方程导出其雅可比矩阵，并对该机构的静力学方程进行了推导。该机器人机构运动学方程正、逆解均具有显式解；其雅可比矩阵在工作空间内不存在奇异点；具有三个平动方向的运动自由度，是一种具有实用价值的机器人机构。 相似文献
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刘璘 《赤峰学院学报(自然科学版)》2012,(24):73-75
本文通过首先阐述了巡检机器人总体机构设计,通过对巡检机器人结构设计的分析后,采用双机械臂反对称机构进行设计.总的来说,本文对巡检机器人机械机构的设计,实现对机器人各关节机构的结构设计,在进行巡检机器人的机械机构设计过程中不但满足对机械机构设计中遵循的设计原则外还根据巡检机器人的特殊作业环境和作业任务进行分析,满足所规定的特有的设计要求. 相似文献
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利用爬缆机器人进行缆索检测是目前开始采用的方法。考虑到爬缆机器人单件制造的特点．本文基于快速制造思想提出了一种多滚轮夹缆的框架式缆索检测机器人结构。通过大量采用MISUMI商品化零件和手板加工技术,实现了大大缩短样机制造周期的目的。 相似文献
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祝长生 《浙江大学学报(A卷英文版)》2003,4(5)
A disc-type magneto-rheological fluid damper operating in shear mode is proposed in this paper, which is based on the special characteristics of the magneto-rheological (MR) fluid with rapid, reversible and dramatic change in its rheological properties by the application of an external magnetic field. The magnetic field of the disc-type MR fluid damper is analysed by the finite element method; the controllability of the disc-type MR fluid damper on the dynamic behaviour of a rotor system; and the effectiveness of the disc-type MR fluid damper in controlling the vibration of a rotor system, are studied in a flexible rotor system with an over-hung disc. It is shown that the magnetic flux density of the disc-type MR fluid damper in the working areas can significantly change with the applied current in the coil; and that the dynamic behavior of the disc-type MR fluid damper can be varied by the application of an external magnetic field produced by a low voltage electromagnetic coil. The disc-type MR fluid damper can significantly change the dynamic characteristics of a rotor system, provided that the location of the disk-type MR fluid damper is carefully chosen. The disc-type MR fluid damper is a new actuator with good dynamic characteristics for rotating machinery. 相似文献
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INTRODUCTIONElectro rheological (ER ) Magneto rheologi cal(MR)fluidisakindofcontrollablefluidwhoserheologicalproperties,especiallyapparentviscosity,canbedramaticallyandreversiblyvariedinafewmillisecondsbytheapplicationofanexternalelectrical magneticfield… 相似文献
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Zhu Chang-sheng 《浙江大学学报(A卷英文版)》2003,4(5):514-519
A disc-type magneto-rheological fluid damper operating in shear mode is proposed in this paper, which is based on the special
characteristics of the magneto-rheological (MR) fluid with rapid, reversible and dramatic change in its rheological properties
by the application of an external magnetic field. The magnetic field of the disc-type MR fluid damper is analysed by the finite
element method; the controllability of the disc-type MR fluid damper on the dynamic behaviour of a rotor system; and the effectiveness
of the disc-type MR fluid damper in controlling the vibration of a rotor system, are studied in a flexible rotor system with
an overhung disc. it is shown that the magnetic flux density of the disc-type MR fluid damper in the working areas can significantly
change with the applied current in the coil; and that the dynamic behavior of the disc-type MR fluid damper can be varied
by the application of an external magnetic field produced by a low voltage electromagnetic coil. The disc-type MR fluid damper
can significantly change the dynamic characteristics of a rotor system, provided that the location of the disk-type MR fluid
damper is carefully chosen. The disc-type MR fluid damper is a new actuator with good dynamic characteristics for rotating
machinery.
Project supported partially by the EC BRITE/EURAM program under BRPR-CT97-0544 IMPACT project and State Key Laboratory of
Vibration, Shock and Noise, Shanghai Jiatong University 相似文献
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为了解决我国西南山区高压输电线路覆冰问题,在总结和分析国内外现有除冰技术基础上,以强力除冰、有效防冰为目标,提出“除冰为主,除防结合”的新型除冰、防冰理念。应用模块化设计,对机器人整体架构、本体机构、除冰机构、防冻喷涂机构以及控制系统进行详细设计说明,对机器人关键零部件进行有限元分析。结果显示,该除冰方案结构设计合理,适用于西南地区高压线缆除冰、防冰工作。该机器人具有结构紧凑、重量轻、简单高效、实用性强等特点,为输电线路除冰、防冻提供了一种新思路,具有较好的社会效益和应用前景。 相似文献
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The passive electromagnetic damper has the same configuration as that of the electromagnetic bearing, but no sensors and no closed loop control are needed. Its robustness and no-contact structure are its great advantages. When the rotor vibrates, the electromagnetic field intensity in the air gap is altered, then fluctuating currents in the damper coils and eddy currents inside the surface layer of rotor are created. Damping force is caused by the fluctuating currents, while retardation torque is generated by eddy currents. The characteristics of a damper may be improved by adding an additional electrical circuit. Numerical studies showed that damping coefficient increases with increasing static current, but decreases with increasing frequency. And the damping coefficient of the improved damper at higher frequency is more evident than that of the original damper. Experimental results showed that the resonant vibration around the first critical speed was obviously suppressed by both types of passive electromagnetic damper. 相似文献
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Dynamic response analysis of damper connected adjacent multi-story structures with uncertain parameters is carried out. A formula of the multi degree of freedom （MDOF） for the structure-damper system with stochastic parameters is derived. The uncertainties of mass and stiffness are taken into consideration firstly. The ground acceleration is represented by Kanai-Tajimi filtered non-stationary process. The mean square random responses of structural displacement and story drift are chosen as the optimization objective. The variations of mean square responses of top floor displacements and bottom story drifts in neighboring structures with the damper stiffness and damping coefficient are analyzed in detail. Through the parametric study, the acquiring optimum parameters of damper are regarded as numerical results. Then, a reducing order model of the MDOF system for adjacent structures with mean parameters is presented. The explicit expressions for determining optimal parameters of Kelvin model-defined damper which is used to connect adjacent single degree of freedom （SDOF） structures subjected to a white-noise excitation are employed to achieve the appropriate damper parameters, which are called theory results. Through a comparative study, it can be found that the theory values of damper parameters are consistent with the results based on extensive parametric studies. The analytical results can be obtained by using the first natural frequencies and the total mass of the adjacent deterministic structures with mean parameters. The analytical formulas can be used to find appropriate parameters of damper between adjacent structures for engineering applications. The performance of damper is investigated on the basis of mitigations of mean square random responses of inter-story drifts, displacements and accelerations in adjacent structures. The numerical results demonstrate the robustness of coupled building control strategies. 相似文献
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设计了一种半主动力跟踪PI控制器，对由磁流液(MR)阻尼器作为悬架阻尼器的汽车模型进行控制分析．MR阻尼器的2种不同模型在闭环的汽车悬架控制系统模型中得到了应用．2种模型是基于均值阻尼力对速度(f-v)特性的均值F-v模型，和描述阻尼力非光滑滞环和饱和特性的滞环f-v模型．汽车模型用来研究力跟踪PI控制算法和MR阻尼器对车辆的振动抑制性能．仿真分析还指出了MR阻尼器的非线性，特别是滞环特性对汽车悬架系统的性能影响．结果表明所提出的控制方法对由MR阻尼器驱动的汽车悬架系统能产生很好的减振效果，不仅体现在对悬架弹簧支撑车厢的共振抑制和对驾乘人员舒适性敏感频域的振动抑制，还体现在对汽车轮胎共振频率周围的振动抑制．结果还进一步说明了MR阻尼器所存在的滞环特性对汽车悬架性能的不良影响． 相似文献