Kinematics analysis of a robotic rock grinder
文献类型：期刊论文
| 作者 | Liu JG(刘金国) ; Wang YC(王越超); Li B(李斌); Ma SG(马书根)
|
| 刊名 | Chinese Science Bulletin
 |
| 出版日期 | 2007 |
| 卷号 | 52期号:23页码:3299-3304 |
| 关键词 | robotic rock grinder grinding wheel grinding teeth planetary gear transmission space exploration robot |
| ISSN号 | 1001-6538 |
| 产权排序 | 1 |
| 中文摘要 | With the aim to discover water, life and resources in other planets, robotic sampling instrument is a crucial part of the space exploration robot. To remove dusty and weathered surfaces and expose the fresh rock underneath the planetary surface, a robotic rock grinder is considered to replace the geologist’s rock hammer to carry out the geological investigation. A primary prototype of the robotic rock grinder with three degrees of freedom has been developed in this paper. Planetary transmission system is used in the grinding driving system with two inputs (rotation motor and revolution motor) and two outputs (grinding wheel and cutting brush). The grinding wheel with two teeth has been used to abrade the rock. The cutting brush is used to sweep the debris. The third actuator is to feed the grinding system. Kinematics of the grinding system has been analyzed. To get a continuous and smooth fresh face over the rock, grinding trajectory of the grinding wheel has been discussed and planned. Lastly, abrasion experiments have been made to testify the feasibility and the basic function of this system. |
| WOS标题词 | Science & Technology |
| 类目[WOS] | Multidisciplinary Sciences |
| 研究领域[WOS] | Science & Technology - Other Topics |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000251407900020 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7371]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu JG,Wang YC,Li B,et al. Kinematics analysis of a robotic rock grinder[J]. Chinese Science Bulletin,2007,52(23):3299-3304. |
| APA | Liu JG,Wang YC,Li B,&Ma SG.(2007).Kinematics analysis of a robotic rock grinder.Chinese Science Bulletin,52(23),3299-3304. |
| MLA | Liu JG,et al."Kinematics analysis of a robotic rock grinder".Chinese Science Bulletin 52.23(2007):3299-3304. |
入库方式： OAI收割
来源：沈阳自动化研究所
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