Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot
Aiming at the actual situation of coal mines unmanned area,a four wheels drives small space detecting robot system for collecting information and samples of the underground environment is designed and developed. The robot is composed of a robot mechanism,travel mechanism,the controller and manipulat...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.016 |
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| _version_ | 1841547643570880512 |
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| author | Li Yang Liu Sumei Qu Dongdong Shi Mingming |
| author_facet | Li Yang Liu Sumei Qu Dongdong Shi Mingming |
| author_sort | Li Yang |
| collection | DOAJ |
| description | Aiming at the actual situation of coal mines unmanned area,a four wheels drives small space detecting robot system for collecting information and samples of the underground environment is designed and developed. The robot is composed of a robot mechanism,travel mechanism,the controller and manipulator mechanism. The robot system components are described,the dynamics and static analysis of the 5 degrees of freedom manipulator is conducted to verify the rationality of its structural design and bearing performance in practical work. The results show that the change of each robot joint torques stable and did not exceed the limits value of the motor to provide. The maximum deformation of forearm is 0. 012 397 mm,the maximum stress on the system configuration 15. 802 9 MPa is little affected,it shows that 5 DOF manipulator type selection is accurate,structure design is reasonable,the practical needs of the coal mine is met. |
| format | Article |
| id | doaj-art-41768caeb1134bb79a77d59eb51df7ef |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-41768caeb1134bb79a77d59eb51df7ef2025-01-10T14:22:32ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141858929930607Dynamics and Statics Analysis of Manipulator of Coalmine Detection RobotLi YangLiu SumeiQu DongdongShi MingmingAiming at the actual situation of coal mines unmanned area,a four wheels drives small space detecting robot system for collecting information and samples of the underground environment is designed and developed. The robot is composed of a robot mechanism,travel mechanism,the controller and manipulator mechanism. The robot system components are described,the dynamics and static analysis of the 5 degrees of freedom manipulator is conducted to verify the rationality of its structural design and bearing performance in practical work. The results show that the change of each robot joint torques stable and did not exceed the limits value of the motor to provide. The maximum deformation of forearm is 0. 012 397 mm,the maximum stress on the system configuration 15. 802 9 MPa is little affected,it shows that 5 DOF manipulator type selection is accurate,structure design is reasonable,the practical needs of the coal mine is met.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.016Detection robotManipulatorDynamics analysisStatics analysis |
| spellingShingle | Li Yang Liu Sumei Qu Dongdong Shi Mingming Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot Jixie chuandong Detection robot Manipulator Dynamics analysis Statics analysis |
| title | Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot |
| title_full | Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot |
| title_fullStr | Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot |
| title_full_unstemmed | Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot |
| title_short | Dynamics and Statics Analysis of Manipulator of Coalmine Detection Robot |
| title_sort | dynamics and statics analysis of manipulator of coalmine detection robot |
| topic | Detection robot Manipulator Dynamics analysis Statics analysis |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.06.016 |
| work_keys_str_mv | AT liyang dynamicsandstaticsanalysisofmanipulatorofcoalminedetectionrobot AT liusumei dynamicsandstaticsanalysisofmanipulatorofcoalminedetectionrobot AT qudongdong dynamicsandstaticsanalysisofmanipulatorofcoalminedetectionrobot AT shimingming dynamicsandstaticsanalysisofmanipulatorofcoalminedetectionrobot |