CIMS論文的天地

 

氣動爬纜機器人氣壓分析與試驗

注意:本論文已在《上海交通大學學報》2003,37(1):54-57上發表
使用者請注明論文出處

張家梁,呂恬生,宋立博,姚香根
(上海交通大學 機械與動力工程學院,上海 200030)

摘要:針對索徑變化較大、表面情況惡劣的纜索,提出了一種采用鉸鏈結構的氣動蠕動式爬纜機器人結構模型,建立了該機器人氣缸受力與高空氣壓損失等理論模型,并對樣機研制實例進行了驗算。研制了工程樣機并在上海徐浦大橋上成功進行了現場試驗。仿真和實驗表明,機器人氣體壓力損失與施工距離、高度、系統耗氣量、氣管傾斜度等成正比例非線性變化;機器人下降時速度較上升時均勻性好,能在斜拉橋纜索上安全高效爬升。
關鍵詞:氣動機器人;纜索;壓力損失;斜拉橋

Pressure Analyses and Experiments of a Pneumatic Cable-Climbing Robot 

ZHANG Jia-liang, LÜ Tian-sheng, SONG Li-bo, Yao Xiang-gen
(School of Mechanical and Power Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)

Abstract: Aiming at the maintenance of the cables of variable diameters and rough surface to some extent in overall length, a mechanism model of a pneumatic worming cable-climbing robot was put forward. Then, the mechanical models of the cylinder airloads and the pressure loss of the altitude air-pipe were created and the engineering examples were simulated. Finally, an engineering prototype machine was developed and experiments were done on the Xupu Bridge. It indicated that the air-pipe pressure loss of the robot was nonlinear and direct proportional to its operation distance, height, air consumption and gradient of the pipe; the robot could climb down at an evener velocity than that up, and could climb stay cables safely and efficiently.
Key words: pneumatic robot; cable; air pressure loss; cable-stayed bridge

1瀏覽PDF格式全文需要使用軟件--Abode Acrobat(由于軟件較大并常見,我站不提供下載)

2、下載論文全文請點擊鼠標右鍵“另存為”或使用網絡螞蟻下載(148KB)


作者點評:

 

歡迎您參加討論,發表您對此論文及其研究領域的看法!
(請在發言時在標題中使用所點評的論文的題目或研究方向,這樣方便大家瀏覽!)

返回首頁 | CIMS論文 | 并行工程 | 虛擬制造 | 敏捷制造 | 其他論文 | 項目開發 | 學術資源 | 站內全文搜索 | 免費論文網站大全 |

line.gif (4535 字節)

為了更好的為大家服務,歡迎您參加本站的投票調查

>>>>參加更多投票調查請點擊!

本站永久域名:http://www.sqvswk.live歡迎訪問

注意:本站內容未經書面允許不得轉載

All rights reserved, all contents copyright 2000-2019
本站自2000年3月總網頁訪問量為
pk10开奖记录直播