擦玻璃机器人负压吸附特性研究

发布时间：2018-05-19 05:57

本文选题：擦玻璃机器人 + 履带驱动　；参考：《真空科学与技术学报》2017年04期

【摘要】：针对负压吸附式擦玻璃机器人(WCR),提出在泄漏条件下的负压腔(NPC)流体模型建立方法,并进行仿真分析和实验验证。对擦玻璃机器人进行静力学分析,得到机器人安全吸附在玻璃表面的负压值;由于负压腔与玻璃之间存在气隙,建立泄漏条件下的负压腔流体模型,将负压系统简化为RC等效电路,负压响应特性为惯性环节。最后对负压腔流体模型进行计算流体力学仿真,通过实验测定负压腔的压力分布,验证了负压腔流体模型的准确性。通过提出一种负压系统分析方法,为采用负压吸附方式的擦玻璃机器人提供了设计依据。
[Abstract]:In view of the negative pressure adsorption glass erasing robot (WCRC), a method for establishing the fluid model of the negative pressure cavity (NPC) under the condition of leakage is proposed, and the simulation analysis and experimental verification are carried out. Through static analysis of glass erasing robot, the negative pressure value of the robot safely adsorbed on the glass surface is obtained. Because of the air gap between the negative pressure chamber and the glass, the fluid model of the negative pressure chamber under the condition of leakage is established. The negative pressure system is simplified as RC equivalent circuit and the negative pressure response characteristic is inertial link. Finally, the computational fluid dynamics simulation of the negative pressure chamber fluid model is carried out, and the pressure distribution of the negative pressure chamber is measured by experiments, which verifies the accuracy of the negative pressure chamber fluid model. A negative pressure system analysis method is proposed, which provides a basis for the design of glass erasing robot with negative pressure adsorption.
【作者单位】：河北工业大学机械工程学院;
【基金】：机器人学国家重点实验室基金课题(401385)
【分类号】：TP242

【相似文献】