【摘要】 针对焦化厂人工测量焦炉立火道温度过程中普遍存在的劳动强度大、测量误差大等问题,设计了一种用于焦炉测温的移动机器人。运用D-H参数法建立了测温机器人的运动学方程,对机器人末端执行器的运动进行理论推导,并利用ADAMS软件对机器人进行运动学仿真研究,最后利用测温机器人物理样机对运动过程进行测试。结果表明,机器人结构设计合理,运动学性能良好,能够满足焦炉测温需求。更多还原

【Abstract】 The mobile robot for coke oven temperature measurement is designed for the problems of large labor intensity and large measurement error in the manual measurement of the coke oven flue temperature. The kinematic equation of the temperature measuring robot is established based on D-H method. The theoretical derivation for the robot terminal actuator motion is overturned, and the kinematics simulation research of the robot is studied by using ADAMS software. Finally, the physical prototype of the temperature measuring robot is used to test the motion process. The results show that the robot has reasonable structure design and good kinematics performance, which can meet the demand of coke oven temperature measurement.更多还原