关键词: 气动, 除冰机器人, 运动学分析, 越障

Abstract:

A new pneumatic de-icing robot was presented in view of the fact that traditional de-icing methods was usually inefficient and unsafe. The de-icing robot with three arms has high efficiency in de-icing and obstacle crossing. By establishing cartesian coordinate of de-icing robot and applying coordinate transformation to derive converse and positive kinematics equation of the robot, the relation between the position of the whole robot and all joint varieties and the structure parameters can be determined. Three-dimensional model of the robot was imported to ADAMS to simulate the procedure of overhanging suspension clamp. The feasibility of the model was tested to be reliable and feasible through the emulative result and experimental operations.

Key words: pneumatic, de-icing robot, kinematics analysis, obstacle crossing