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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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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
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