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机器人化的采样工具是星球探测机器人的重要组成部分,可用以发现其他星球上是否存在水、生命和资源.要实现地质考察,必须先清除星球岩石表面的尘埃和风化层;机器人化岩石研磨器可用来代替地质学家的岩石锤,执行地质考察的任务.本文研制了一台三自由度的机器人化岩石研磨器的样机.研磨系统采用行星传动,具有双输入(旋转电机和绕转电机)和双输出(研磨轮和去屑刷).研磨轮上有两颗研磨牙用以磨削岩石,去屑刷用以清除研磨表面.机器人化岩石研磨器的第三个电机用来实现研磨系统的进给.对研磨系统的运动学进行了分析,为了得到连续、光滑的被研磨面,进一步对研磨轮的轨迹进行了分析和规划.最后,在石灰板上进行了研磨实验,验证了机器人化岩石研磨器系统的基本功能和可行性.
Robotic sampling tools are an important part of planetary exploration robots and can be used to discover the existence of water, life and resources on other planets. To achieve geological exploration, the dust and weathering layer on the planet rock must be cleared. The robotic rock grinder Can be used to replace the geologist’s rock hammer to perform the task of geological investigation.This paper developed a three degree of freedom robotized rock grinder prototype grinding system using planetary drive with dual inputs (rotating motor and revolving motor) And dual outputs (grinding wheels and dandruff brushes). The grinding wheel has two grinding teeth for grinding the rock and a dandruff brush for removing the grinding surface. The third motor of the robotic rock grinder is used for the grinding system The kinematics of the grinding system was analyzed.In order to obtain a continuous and smooth surface to be polished, the trajectory of the grinding wheel was further analyzed and planned.Finally, the grinding experiment was carried out on the lime plate, which verified that the robot The basic function and feasibility of rock grinder system.