Abstract
Through the research on drilling robot at home and abroad, this paper divides steering methods into two types: steering caused by radial motion of body parts; steering caused by deflection of the head. Based on this classification, several schematic designs of steering mechanism are proposed. Respectively, structural design and principle analysis of steering mechanisms are carried out. And steering mechanism 3 is chosen the best one through comparison from the following aspects: No. of motors in the steering mechanism, size, turning radius and control difficulty. In order to prove its feasibility theoretically, the detailed modeling and analysis are presented. The results of DOF (degree of freedom) calculation and kinematics simulation of the head point show that its motion is determined and no collision exists between the parts during the kinematical process. The relation among peak value of rollers’ trajectory H, distances from rollers to the rotation axis of the cylindrical cam r and maximum deflection angle θmax is analyzed by building the deflection model, which lays foundation for further optimization.
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