...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science >Design and its characteristic analysis of a wheeled train uncoupling robot with multi-degrees-of-freedom
【24h】

Design and its characteristic analysis of a wheeled train uncoupling robot with multi-degrees-of-freedom

机译：多自由度轮式火车解耦机器人的设计与性能分析

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Freight trains play a vital role in cargo transportation in the world. The freight cars need to be redistributed for marshalling according to different destinations in the hump yard. Humans are usually employed to uncouple the freight cars in the marshalling yard. However, the work environment is difficult to work in, because of its potential danger and the effects of the surrounding environment can have a very serious impact on human's health. A wheeled robot is developed to replace humans to finish the uncoupling task. It has four degrees-of-freedom with flexible motion. Based on the D-H method, the kinematics, including the forward and the inverse kinematics, is firstly analysed. The dynamic analysis is then studied by Newton-Euler equations. The workspace is lastly investigated to verify its operational space such that the coupler can be easily reached by the robot manipulator. Those characteristic analyses provide a basis for motion planning and real-time control of the robot.
机译：货运列车在世界货物运输中起着至关重要的作用。货运车需要根据驼峰场中的不同目的地进行重新分配以进行编组。通常雇用人员来解耦编组场中的货车。但是，由于存在潜在的危险，并且周围环境的影响会对人体健康造成非常严重的影响，因此工作环境很难工作。开发了轮式机器人来代替人类来完成解耦任务。它具有四个自由度，运动灵活。基于D-H方法，首先分析了运动学，包括正向运动学和逆向运动学。然后通过牛顿-欧拉方程研究动力学分析。最后对工作空间进行了检查，以验证其工作空间，以便机器人操纵器可以轻松够到耦合器。这些特性分析为机器人的运动计划和实时控制提供了基础。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号