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《China Mechanical Engineering》 2014-01
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Design and Kinematics Analysis of Large Condenser Cleaning Robot

Xia Hanming;Wang Yaonan;Yin Feng;Cao Wenming;Hunan University;  
A large condenser cleaning robot was designed herein,the structure of which was simple and was easy to control,and can on line clean large condenser automatically for long time.Model of kinematics of the large condenser cleaning robot was founded,and the forward and inverse kinematics of which was analyzed.The catastrophe problem of the robot joint value was solved.The workspace of the robot was verified that covered distribution space of bunches of copper pipes of the condenser and the robot was high flexible.The kinematics of the large condenser cleaning robot was simulated and analyzed,and results indicate the designed end-effector is rational,and can meet the working requirements,which provides theory foundation for further researches.
【Fund】: 国家高技术研究发展计划(863计划)资助项目(2008AA04Z214 2007AA04Z244);; 国家自然科学基金资助重点项目(60835004);国家自然科学基金资助项目(60775047);; 国家科技支撑计划资助项目(2008BAF36B01);; 高等学校科技创新工程重大项目(706043)
【CateGory Index】: TP242
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【Citations】
Chinese Journal Full-text Database 2 Hits
1 YIN Feng, WANG Yao-nan, YU Hong-shan (College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China);Workspace boundary extraction of de-icing robot based on Monte Carlo method[J];控制理论与应用;2010-07
2 JIANG Hong-chao1,2,LIU Shi-rong2,ZHANG Bo-tao1,2(1.Institute of Automation,East China University of Science and Technology,Shanghai 200237,China;2.Institute of Automation,Hangzhou Dianzi University,Hangzhou 310018,China);Inverse kinematics analysis for 6 degree-of-freedom modular manipulator[J];浙江大学学报(工学版);2010-07
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 WANG Junlong;ZHANG Guoliang;JING Bin;XU Jun;Teaching and Research Office 301,The Second Artillery Engineering University;;Research on way of inverse kinematic solution of six DOF manipulator[J];计算机工程与应用;2013-22
2 Zhang Jianfu Wang Jianjian Feng Pingfa Li Tiemin(The State Key Laboratory of Tribology,Tsinghua University,Beijing 100084,China);Monte Carlo Method for Manipulability Analysis of Parallel Manipulators[J];农业机械学报;2013-07
3 LIAO Feng (Taizhou College,Nanjing Normal University,Taizhou 225300,China);An inverse kinematics manipulation method for the manipulator with six degrees of freedom[J];计算机工程与科学;2013-06
4 Li Xianhua1 Guo Yongcun1 Zhang Jun1 Guo Shuai2 (1.School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China 2.CIMS & Robot Center,Shanghai University,Shanghai 200444,China);Inverse Kinematics Solution and Verification of Modular 6-DOF Manipulator[J];农业机械学报;2013-04
5 CHAO Yan-kai,XU Yu-lin,ZHOU Yong-fei,Lü Xiao-meng,WANG Ming(College of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200072,China);Target Positioning and Mechanical Arm Control of Robot Based on Binocular Vision[J];计算机技术与发展;2013-07
6 Chen Ze,Gao Nuo,Liu Cungen,et al.(School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China);Analysis of mobile manipulator control system based on virtual reality[J];山东建筑大学学报;2013-01
7 Liu Zhizhong1,2 Liu Hongyi1 Luo Zhong1 Zhang Xiuheng1(1.School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110004,China 2.School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454003,China);Improvement on Monte Carlo Method for Robot Workspace Determination[J];农业机械学报;2013-01
8 LIU Zhen-yu1,ZHU Hai-bo1,ZOU Feng-shan2,ZHAO Bin1,2(1.College of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870,China; 2.Siasun Robot and Automation Company Limited,Shenyang 110168,China);Simulation of industrial robot sorting system based on OpenGL[J];计算机工程与设计;2012-11
9 XIE Zhi-jiang1,LI Cheng1,LIU Nan2,NI Wei2(1.State Key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400044,China;2.Research Center of Laser Fusion,China Academy of Engineering Physics,Mianyang Sichuan 621900,China);Determination of inverse kinematics of a 6-DOF installing-calibrating robot[J];吉林大学学报(工学版);2012-06
10 LIAO Feng;College of Mathematic Science and Application,Nanjing Normal University Taizhou College;;Manipulation method for manipulator with improved adaptive multiple population differential evolution[J];计算机工程与应用;2013-17
【Secondary Citations】
Chinese Journal Full-text Database 1 Hits
1 ZHENG Hui-feng 1,2 ,ZHOU Xiao-jun 1 ,ZHANG Yang 1 (1.College of Mechanical and Energy Engineering,Zhejiang University,Hangzhou 310027,China;2.College of Metrological Technology and Engineering,China Jiliang University,Hangzhou 310027,China);Time optimization based trajectory planning of ultrasonic inspection[J];浙江大学学报(工学版);2010-01
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