Reaserch On The Robot Used In Clearing Up Towin's Drainage-well Slit

We try to design the robot mechanism using the rule of static-mechanics in the beginning of the reaserchment. We choice materials, sizes of standard parts' from gudie for engineering designment in the follwing step. We calculate those parts' mass, moment of inertia and so on . We need to give every robot joint a three times function which use time parameter as its' base variables, these functions will be used as joints movement rules. We can get the max accelerated velocities of the analysed objects from above functions, and those datas are very important in caculating forces which will be used in the analysis of intension, when objects is moving. We also design the robot's grab bucket of which size is to fit the rode environments in twins. After finish building the robot's framework modle, We analysed the robot in Cartesian Space using Robtic Kinematics, Dynamics as good methods, and the results will be used in the study of the robtic dynamic control. In the following segment, We drawn the elemental draft of the electro-hydraulic dynamic system and choise standard parts based some caculating results of the load acting on the parts. We used an open controlling chain to set up the control-system, and those electric signal given by external displacement sensors were sent to mic-controller through procedure channels. After been disposed in CPU, those datas info were sent to control switches which will open or close the electrical signals used by proportional-control parts. The core construction of the control system include humam-machine exchangement function, datas caculating function, datas translateing function, programs saving function, results printing function.those all procedures were controlled by manual compiled soft, the soft codes will be writed in assemble language.