鏈夾式大蔥移栽機的設計【說明書+CAD+SOLIDWORKS】
鏈夾式大蔥移栽機的設計【說明書+CAD+SOLIDWORKS】,說明書+CAD+SOLIDWORKS,鏈夾式大蔥移栽機的設計【說明書+CAD+SOLIDWORKS】,鏈夾式,大蔥,移栽,設計,說明書,仿單,cad,solidworks
AdvancedRobotics,Vol.16,No.6,p.557560(2002) VSPandRoboticsSocietyofJapan2002.Alsoavailableonline- Technicalnote Averticallymovingrobotabletogriphandrailsforbullet5re-bullet5ghting HISANORIAMANONationalResearchInstituteofFireandDisaster,3-14-1Nakahara,Mitaka,Tokyo181-8633,Japan,amanofri.go.jp Keywords:Fire-bullet5ghtingrobotics;disasterresponserobotics;rescuerobotics;urbansearchandrescue.1.INTRODUCTION Therearemanyhigh-risecondominiumsandladdertracksareusedagainsthigh-risebuildingbullet5re.However,theirheightismuchhigherthanthereachableheightoftheladders.Ontheotherhand,therehavebeensomestudiesofrobotsmovingverticallyonwallsbymeansofsuckers.However,theirclimbingspeedandreliabilitywas notsufbullet5cientforuseinanactualbullet5re-bullet5ghtingoperation.Therefore,Iproposeaverticallymovingrobotthatutilizesbalconyhandrailsasastep.Ihavedevelopedafull-sizetrialrobotwithahybridcontrolsystemthatconsistsofnon-linearfeedbackandsequentialmethods.Finally,Iconcludedthattheverticallymoving robotisusefulforbullet5re-bullet5ghtingagainsthigh-risecondominiumsfromtheresultsofexperiments.Thus,Iintroducetheoutlineoftherobotandexplaintheperformanceoftherobot. 2.OUTLINEOFTHEROBOTAphotographoftherobotisshowninFig.1.Thedimensionsare4.0minheight,0.5minwidthand0.4mindepthapproximately.Themassisabout38.5kg.The robotconsistsoftwogrippersandthreeseriallinks.Thethreelinksareconnectedwithrotatingjoints;thetwogrippersareinstalledthroughrotatingjointsoneachendoftheconnectedlinks.Grippers1and2arethesame,althoughtheyareinstalledinreverseforthe connectedlinks.Links1and3arethesameexceptfortheinstalledelectricaldevices.Thecomputeranditsinterfacesystemsaremountedtolink1,themotordrivecircuitsareinstaledtolink3.Links1and3areinstalledtothelink2symmetrically. Therobotworksonanelectricalpowerofdirectcurrent48Vandthepowerissuppliedfromoutside.Thepowersupplylinesareconnectedtothecenteroflink2.Directcurrentmotorsareusedasactuators.Theirratedpoweris150W. 558 H.Amano Figure1.Photographofverticallymovingrobot.Inordertocontroltherobot,Iuseahybridcontrollerconsistingofajointspacecontrollerandasequentialcontroller.Thejointspacecontrollerisdesignedbased onthenon-linearfeedbackmethod.Thedesiredtrajectorieswereplanedforthejointspacecontroller. 3.ROBOTMOTIONInthissection,Iexplaintherobotmotionbriebullet6y.AsideviewoftherobotmotionisshowninFig.2.Theshapeoftherobotisshownroughlyeachstraight linerepresentseachlinkandgripperoftherobot,andthejointsoftherobotarerepresentedbycircles.Themotionisdividedintothefollowingbullet5veparts.Step1.Therobotreleasesthelowerbullet6orhandrail.Gripper2isliftedvertically. Step2.TherobotswingsGripper2tooutsideofthebalcony.Step3.Gripper2isliftedup.Gripper2andLink3gothoughtheinsideofLink2.EachlinkandGripper2keepssomespacebetweenthehandrailstoavoid collisionwiththeobstaclesstickingoutfromthebalcony.Step4.Gripper2isliftedupalso.Theupperbullet6oorintervalisnotclearatthebeginningofthemotion.ThentherobottemporarilyliftsGripper2ashigh aspossible.Step5.Gripper2isletdownverticallyandgetscaughtpassivelythehandrailoftheupperbullet6oor. Therobothasgoneuponebullet6oor,comparingthebullet5nalstateandinitialstateofthemotion.Therobotclimbsbullet6oorsoneafteranotherbyrepeatingthismotion. Averticallymovingrobotabletogriphandrails 559 Figure2.Outlineofrobotmotion.Howevertherobotisupsidedown,andthusitisneededtoswitchjoint1tojoint4,joint2tojoint3,joint3tojoint2andjoint4tojoint1forclimbingnextbullet6oorup. 4.PERFORMANCEIperformedexperimentsatseveralbullet6orintervalsfrom2.50to3.20matintervalsof0.10m.Therobotwasabletoclimbbullet6oorswhoseintervalisupto3.10m. Therequiredtimedependsonthebullet6oorinterval.Idiscustherequiredtimetoclimbonebullet6oor,dividingthemotionattheendofStep3showninFig.2.Therequiredtimeofthebullet5rstpartdependsonthelowerbullet6oorinterval.Althoughthesecondpartdependsonboththelowerandupperbullet6oorintervalstrictly,Iregard itasdependingonlyonthesecondpart.Theassumptionagreeswellwiththeexperimentalresults.Therequiredtimeofthebullet5rstpartisshowninTable1andthesecondpartisshowninTable2.Itisshownonlytheresultsofevery0.20minthetablestomakethetablessimples.Thetimeforswitchingcontrollersisincluded inthesecondpart.Forexample,ittakes18.8sinthecasewhenthelowerbullet6orintervalis3.10mandtheupperbullet6oorintervalis2.50m.Theclimbingspeedis0.149m/sinthiscase.Iconsideredthattherobotclimbsthemeanvalueofthelowerandupperbullet6or interval,i.e.therobotclimbs2.8minthiscase. 560 H.AmanoTable1.Timerequiredforbullet5rstpart Lowerbullet6orinterval(m)2.502.702.903.10Time(s) 6.236.496.787.13 Table2.Timerequiredforsecondpart Lowerbullet6orinterval(m)2.502.702.903.10Time(s) 11.6711.1610.599.90 Themaximumspeedis0.182m/sontheconditionthatbothlowerandupperbullet6orintervalsare3.10m.Theslowestcaseisthatbothbullet6oorintervalsare2.50mandthespeedis0.140m/s.Icalculatedthemeanvalueoftheclimbingspeed.Itis0.161m/s. 5.CONCLUSIONSTheauthorconcludesthattheverticallymovingrobotdesignedisusefulforbullet5re-bullet5ghtingagainsthigh-risecondominiums.Itbecomesclearthatthisrobotcanclimb upbuildingswithinareasonabletime.Furthermore,thisrobotcanclimbbuildingswhosebullet6oorintervalvariesfrom2.50to3.10m.Therobotisjustafull-sizetrialmodelandthereexistssometechnicalproblemswithwaterresistance,durability,andreliabilitytodeploytherobotinbullet5restations anduseitinactualbullet5re-bullet5ghting.However,thebasicpartsofthedevelopmenthavebeencompleted. REFERENCES1.H.Amano,T.J.TarnandK.Osuka,Developmentofverticallymovingrobotwithgrippinghandrailsforbullet5rebullet5ghtingnumericalsimulationstudy,in:Proc.2000JapanUSAFlexible AutomationConf.(2000).2.H.Amano,K.OsukaandT.J.Tarn,Experimentalstudyofverticallymovingrobotwithgrippinghandrailsforbullet5rebullet5ghting,in:Proc.5thInt.Conf.onMotionandVibration,Vol.1,p.293298(2000). 3.H.Amano,K.OsukaandT.-J.Tarn,Developmentofverticallymovingrobotwithgrippinghandrailsforbullet5rebullet5ghting,in:Proc.Int.Conf.onIntelligentRobotsandSystems,p.661667(2001).
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