【摘要】 为进行非开挖条件下地下管线的铺设,研制了“穿地龙”机器人,该机器人采用气动冲击方式工作。对机器人的运动轨迹进行了分析,推导出运动轨迹的表达公式,并建立了机器人直线运动的数学模型。以建立的数学模型为基础,编制了机器人运动轨迹的仿真程序,获得了较好的仿真结果。仿真结果表明,机器人的锥形钻头和冲击机构同时运动时,机器人的运行轨迹近似为一条直线,从而验证了“穿地龙”机器人总体方案的可行性。实验结果说明,该机器人可以在非开挖条件下按目标轨迹完成土中穿孔作业。更多还原

【Abstract】 The "mud puncturing dragon" robot was developed for trenchles laying of underground pipelines.The robot uses a pneumatic impulse to lay the pipe.The movement of the "mud puncturing dragon" robot was analyzed to develop a mathematical model of the movement.Simulation results show that when the robot’s coneshape drill and impulse mechanism move at the same time,the robot’s movement is approximately a straight line.Tests show that the robot can push the pipe into the ground along the target trace without a trench.更多还原