| JZ-3型水轮机修复机器人动力学建模 |
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| 引用本文： | 舒庆,朱捷,张晓光.JZ-3型水轮机修复机器人动力学建模[J].科技导报(北京),2009,27(2). |
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| 作者姓名： | 舒庆 朱捷 张晓光 |
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| 作者单位： | 舒庆,SHU Qing(哈尔滨理工大学机械动力工程学院,哈尔滨,150080);朱捷,张晓光,ZHU Jie,ZHANG Xiaoguang(黑龙江科技学院数力系,哈尔滨,150027)
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| 基金项目： | 黑龙江省教育厅科学技术研究项目 |
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| 摘 要： | JZ-3是专门用于修复被气蚀和磨损的水轮机转轮的机器人,由在导轨上移动的小车、三节机械臂和两个转动关节组成,有包括1个移动和5个转动的6个自由度.本文基于拉格朗日方程的功能平衡法,构建了JZ-3机器人的动力学模型,对其中的惯量项、重力项和雅可比矩阵等参量进行了深入分析,建立了相应的算法,为实现机器人力的自适应控制奠定了基础,并对-1g算式进行了修正.
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| 关 键 词： | JZ-3机器人 动力学 惯量 重力 雅可比矩阵 |
Dynamic Modeling of Robot for Repairing Hydraulic Turbines |
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| SHU Qing,ZHU Jie,ZHANG Xiaoguang . College of Mechanical & Power Engineering,Harbin University of Science , Technology,Harbin ,China.Dynamic Modeling of Robot for Repairing Hydraulic Turbines[J].Science & Technology Review,2009,27(2). |
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| Authors: | SHU Qing ZHU Jie ZHANG Xiaoguang College of Mechanical & Power Engineering Harbin University of Science Technology Harbin China |
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| Institution: | SHU Qing1,ZHU Jie2,ZHANG Xiaoguang2 1. College of Mechanical & Power Engineering,Harbin University of Science , Technology,Harbin 150080,China 2. Department of Mathematics , Mechanics,Heilongjiang Institute of Science , Technology,Harbin 150027,China |
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| Abstract: | JZ -3 Robot is used for welding and grinding for repairing hydraulic turbines damaged by cavitation and wear in hydro power plants. For the special working conditions, JZ-3 Robot should meet some requirements, such as small volume, light weight, easy movement from one stream channel to another. The structure of JZ-3 Robot is carefully analyzed with its six degrees of freedom, including the track, moving car, arm of three degrees of freedom, wrist of two degrees of freedom. A dynamic model of JZ-3 robot is b... |
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| Keywords: | JZ-3 robot dynamics inertia gravity Jacobian matrix |
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