随着社会经济的快速发展,城市河道、湖泊的污染越来越严重,设计了一款河道漂浮物清理机器人,对其漂浮物收集机构的动力学问题进行研究,通过位置、速度分析,建立了动力学模型,采用特征结构配置的方法进行解耦分析,得到解耦模型.运用ADAMS动力学软件建立了虚拟样机模型并验证了解耦模型的可行.通过样机模型的制作并进行试验,验证了该河道清理机器人机构运行平稳,清理效果良好,为城市河道、湖泊水面漂浮物的清理提供了一种可行的方案.%With the rapid development of social economy, urban river courses and lakes pollution is more and more serious. In this paper,designed a floating river cleaning robot. The dynamics of the floating collection mechanism is studied.Through the position and velocity analysis, the dynamics of the floater collection agencies model is established. The decoupling model is obtained by decoupling analysis by means of feature structure configuration. Using ADAMS software to establish the virtual prototype model and verify the decoupling model is feasible. Make and test the prototype model. It is verified that the operation of this channel cleaning robot is stable and the cleaning effect is good, and it provides a feasible scheme for the cleaning of the floating objects in the urban river channel and lake.
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