Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms
Aiming at the low efficiency of temperature measurement in coke oven factory, a type of scorpion-like composite robot is designed to measure temperature in coke ovens. The robot works in combination with the structural characteristics of the scorpion. It uses the scorpion's double pincers to li...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2022-12-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.018 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841547006069178368 |
|---|---|
| author | Xue Jiaolong Gao Qiang Zhang Jie Yan Hongwei |
| author_facet | Xue Jiaolong Gao Qiang Zhang Jie Yan Hongwei |
| author_sort | Xue Jiaolong |
| collection | DOAJ |
| description | Aiming at the low efficiency of temperature measurement in coke oven factory, a type of scorpion-like composite robot is designed to measure temperature in coke ovens. The robot works in combination with the structural characteristics of the scorpion. It uses the scorpion's double pincers to lift the lid of the furnace and measures the temperature in the furnace with the infrared temperature measurement of the scorpion tail. In order to verify the rationality of the robot structure, the overall D-H structure of the composite robot is modeled by Matlab, the forward and inverse kinematics of the legs of the composite robot are analyzed, and the working space probability model of the infrared thermometer with both arms and tail is obtained by Monte Carlo method simulation. In order to verify the motion stability of the robot, the stable gait of the composite robot was obtained through Adams simulation. It lays a solid foundation for further robot research. |
| format | Article |
| id | doaj-art-0f82bdddea9a409cbe149c04d8868e5d |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0f82bdddea9a409cbe149c04d8868e5d2025-01-10T14:56:46ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-12-014611912333108245Cooperative Analysis of a Scorpion-like Composite Robot with Multiple ArmsXue JiaolongGao QiangZhang JieYan HongweiAiming at the low efficiency of temperature measurement in coke oven factory, a type of scorpion-like composite robot is designed to measure temperature in coke ovens. The robot works in combination with the structural characteristics of the scorpion. It uses the scorpion's double pincers to lift the lid of the furnace and measures the temperature in the furnace with the infrared temperature measurement of the scorpion tail. In order to verify the rationality of the robot structure, the overall D-H structure of the composite robot is modeled by Matlab, the forward and inverse kinematics of the legs of the composite robot are analyzed, and the working space probability model of the infrared thermometer with both arms and tail is obtained by Monte Carlo method simulation. In order to verify the motion stability of the robot, the stable gait of the composite robot was obtained through Adams simulation. It lays a solid foundation for further robot research.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.018Coke oven temperature measurementD-HWorkspaceStable gait |
| spellingShingle | Xue Jiaolong Gao Qiang Zhang Jie Yan Hongwei Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms Jixie chuandong Coke oven temperature measurement D-H Workspace Stable gait |
| title | Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms |
| title_full | Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms |
| title_fullStr | Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms |
| title_full_unstemmed | Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms |
| title_short | Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms |
| title_sort | cooperative analysis of a scorpion like composite robot with multiple arms |
| topic | Coke oven temperature measurement D-H Workspace Stable gait |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.12.018 |
| work_keys_str_mv | AT xuejiaolong cooperativeanalysisofascorpionlikecompositerobotwithmultiplearms AT gaoqiang cooperativeanalysisofascorpionlikecompositerobotwithmultiplearms AT zhangjie cooperativeanalysisofascorpionlikecompositerobotwithmultiplearms AT yanhongwei cooperativeanalysisofascorpionlikecompositerobotwithmultiplearms |