%0 Journal Article
%T 油罐清洗机器人运动倾覆稳定性分析与仿真<br>Analysis and Simulation of Tumble Stability of Oil Tank Cleaning Robot
%A 周利坤
%A 付贵永
%J 机械科学与技术
%D 2015
%X 油罐清洗机器人是一种针对油罐罐底油泥实施自动化清洗而研发的特殊机器人。在分析其罐底工作环境及工作流程的基础上，运用动态能量稳定锥方法分析了罐壁和罐底：“盲区”油泥清洗的工作稳定性。通过ADAMS环境下的仿真实验，该机器人运动速度在v=0.5 m/s 以内时，机器人不发生倾覆，在机体倾斜角度？=30°时，脉冲水射流出口速度宜控制在u=100 m/s以内，保证机器人倾覆稳定性，实现油罐“盲区”油泥清洗。仿真结果与该机器人设计参数基本相符，能够实现对油罐罐底油泥的清洗。<br>An oil tank cleaning robot is a special device for implementing the automatic cleaning of the sludge on the bottom of an oil tank. After analyzing the working environments and processes of the oil tank, a dynamic energy stability pyramid was adopted to analyze the cleaning stability of the oil tank wall and the blind spots of sludge on the oil tank bottom. The simulation was carried out with the ADAMS. The cleaning robot can guarantee its tumble stability when its robot velocity is within. When the angle of inclination of the cleaning robot is 30 degrees and the velocity of the nozzle pulsed with water jet is not greater than 100 m/s, the cleaning robot is stable. The simulation results are in conformity with the basic design parameters of a cleaning robot and reveal that the cleaning robot can effectively clean oil tank bottom sludge
%K 油罐清洗机器人
%K 运动学
%K 倾覆稳定性
%K 仿真分析&lt
%K br&gt
%K kinematics
%K oil tank cleaning robot
%K simulation and analysis
%K tumble stability
%U http://journals.nwpu.edu.cn/jxkxyjs/CN/abstract/abstract6009.shtml