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摘要
In this paper, in order to solve the question of the winding tracks affected by tension leading to pipeline performance degradation, we analyze the tension on the wound composite pipes and establish a winding model about six degrees of freedom robotic arm and find the solver of the kinematic equations. We designed a winding track and established on a MATLAB and ADAMS co-simulation platform. The winding track affected by the tension is simulated. According to the results, we can obtain the force of the joints of the robot. Taking these force data as the compensation of the joint force, the robot can do the desired track overcoming the winding tension.
- 出版日期2015-9-11
- 单位哈尔滨工程大学
