[1]顾立志,牛国玲,霍艳忠.城市下水道清淤移动式机械手系统设计[J].华侨大学学报(自然科学版),2009,30(1):12-15.[doi:10.11830/ISSN.1000-5013.2009.01.0012]
　GU Li-zhi,NIU Guo-ling,HUO Yan-zhong.Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas[J].Journal of Huaqiao University(Natural Science),2009,30(1):12-15.[doi:10.11830/ISSN.1000-5013.2009.01.0012]
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城市下水道清淤移动式机械手系统设计()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第30卷
期数:
2009年第1期
页码:
12-15
栏目:
出版日期:
2009-01-20

文章信息/Info

Title:
Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas
文章编号:
1000-5013(2009)01-0012-04
作者:
顾立志; 牛国玲; 霍艳忠
华侨大学机电及自动化学院; 佳木斯大学机械工程学院; 佳木斯大学信息电子技术学院
Author(s):
GU Li-zhi1;  NIU Guo-ling2;  HUO Yan-zhong3
1.College of Mechanical Engineering and Automation, Huaqiao University, Quanzhou 362021, China; 2.College of Mechanical Engineering, Jiamusi University; 3.College of Information Science and Electronics, Jiamusi University, Jiamusi 154007, China
关键词:
机械手;  下水道;  抓取率;  可编程逻辑控制器
Keywords:
mechanical arm;  sewer;  catch ratio;  programmable logic controller
分类号:
TP241
DOI:
10.11830/ISSN.1000-5013.2009.01.0012
文献标志码:
A
摘要:
设计一种可手动/远程控制的移动式清淤液压驱动机械手系统.分析其机械手机构、液压驱动与控制和可编程电器控制的功用、工作原理、组成结构,研究和设计其相关的运动学和动力学.通过可编程控制器,可实现对抓子、回转台上回转臂和升降臂的控制,完成清淤操作.提出抓取率的概念和抓端理想轨迹线,分析实际轨迹线及特性要求,推导出抓端运动方程,实现了作业的高效率和过程控制的自动化.
Abstract:
A mobile manipulator system with manually operated remote control and hydraulic servo-device is designed for sullage disposal in urban areas.The function,working principle and configuration of the 3 parts,i.e.,the mechanical system,the hydraulic-servo device and the programmable logic controller(PLC),are analyzed,moreover,the kinematics and dynamics of the manipulator system are analyzed for the further control.The sullage-disposal operation is implemented by the manual operated panel to make the PLC to manipulate the claw device,the swivel arm on the turning table and the lifting arm.The kinematic equation of the claw device is derived with the definition of the catch ratio and the ideal trajectory of the claw device,and with the analysis of its real trajectory and the performance requirement,so that the operation with high efficiency and automation of the process control could be realized.

参考文献/References:

[1] 郑伟民. 排水灌渠水利疏通 [M]. 北京:中国建筑工业出版社, 1980.
[2] 中华人民共和国建设部. CJ/T 16～21-1999.城市环境卫生专用设备 [S]. 北京:中国标准出版社, 1999.
[3] 楼鸿隶, 邹慧君. 高等机械原理 [M]. 北京:高等教育出版社, 1990.
[4] 吴宗. 机械零件设计手册 [M]. 北京:机械工业出版社, 2004.
[5] 林国重, 盛东初. 液压传动与控制 [M]. 北京:北京工业大学出版社, 1986.
[6] 齐从谦, 王士兰. PLC 技术及应用 [M]. 北京:机械工业出版社, 2000.
[7] 陈尚松, 雷加, 郭庆. 电子测量与仪器 [M]. 北京:电子工业出版社, 2005.
[8] 张振荣, 晋明武, 王毅平. MCS-51单片机原理及实用技术 [M]. 北京:人民邮电出版社, 2000.

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备注/Memo

备注/Memo:
国务院侨办科研基金资助项目(06QZR06)
更新日期/Last Update: 2014-03-23