| This paper mainly focused on the dynamics problem of special robot for hydraulic turbine repair. First of all, it covers with virtual design for robot by using 3D(three-dimension) software Pro/Engineer including its 3D model, virtual assembly and model export, meanwhile, proposed product modeling, feature modeling or parametic model method.Furthermore, combined with kinetic conclusion, the paper analyzed force and static equation, and discussed the working static feature for special robot. Then, based on the statics and D'Alembert Theory, it established dynamic equation and performed dynamic emulation by means of "ADAMS" to confirm the correctness and feasibility of the dynamic equation. |
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