| The maintenance & inspection robot with 6 DOF is a kind of special robot operating in hazardous environment. It's mainly used for eddy current inspection, ultrasonic inspection, tube plugging, TV inspection of surface conditions and so on. It has great significance on improving working conditions and increasing the automation level.Firstly, the author systematically overviews the development situation of the maintenance & inspection robot abroad. Through the study of the American robot—ROSAIII, the KHV transmission mechanism has been designed. It implements perfect integration of motor, reducer and resolver so that it achieves the design goal of small cubage with great load carrying ability.According to degrees of freedom distribution and mechanism of the robot, the kinematics and dynamics are analyzed. The kinematics model is established by the homogeneous coordinate transformation. Pieper algorithm is chosen to implement the inverse kinematics. The dynamics of the robot is simulated by the SimMechanics module of MATLAB. The kinematics and dynamics are the theoretic base of robot control and trajectory planning.Aiming at the technology request and special working condition, the joint servo system based on Turbo PMAC and PC is designed. The hardware configuration of the joint servo system is established, on which some tests are completed.The model of joint servo system on the maintenance & inspection robot has been established and analyzed. General PID, feedforward PID and expert PID are introduced, especially on the aspects of theory, simulation based on MATLAB and implemention on Turbo PMAC. Also, the... |
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