Earticle

초록

영어

In this paper, in order to solve the question of the winding tracks affected by tension leading to pipeline performance degradation, we analyze the tension on the wound composite pipes and establish a winding model about six degrees of freedom robotic arm and find the solver of the kinematic equations. We designed a winding track and established on a MATLAB and ADAMS co-simulation platform. The winding track affected by the tension is simulated. According to the results, we can obtain the force of the joints of the robot. Taking these force data as the compensation of the joint force, the robot can do the desired track overcoming the winding tension.

목차

Abstract
 1. Introduction
 2. Analysis of Composite Pipe Winding Tension
 3. Establishment of Six Degrees of Freedom Manipulator Kinematics Equations and Mathematical Models
  3.1. Establishment the Mathematical Models
  3.2. Kinematic Equation Solver
 4. Design of Manipulator Simulation Model
 5. Manipulator Model Simulation and Analysis
  5.1. The Model Building
  5.2. The End of the Robot Trajectory Planning
  5.3. Simulation and Analysis
 6. Conclusion
 References

키워드

저자

• Huijun Li [ College of Automation, Harbin Engineering University, Harbin, China, Harbin University of Science and Technology, Harbin, China ]
• Shuxiang Guo [ College of Automation, Harbin Engineering University, Harbin, China ]
• Xiufen Ye [ College of Automation, Harbin Engineering University, Harbin, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Hybrid Information Technology

• 간기

  격월간

• pISSN

  1738-9968

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605