螺旋槳清洗機器人超靈巧機械臂設計

羅天洪; 王晴; 馬翔宇

doi:10.13374/j.issn2095-9389.2017.06.016

螺旋槳清洗機器人超靈巧機械臂設計

doi: 10.13374/j.issn2095-9389.2017.06.016

1) 重慶交通大學機電與車輛工程學院, 重慶 400074
2) 西安航空學院機械工程學院, 西安 710077

基金項目:

國家自然科學基金資助項目(51375519)

重慶市研究生科研創新基金資助項目(CYS15181)

詳細信息

中圖分類號: TP241.3
計量
- 文章訪問數: 745
- HTML全文瀏覽量: 261
- PDF下載量: 28
- 被引次數: 0
出版歷程
- 收稿日期: 2016-12-28

Ultra-smart manipulator design for propeller-cleaning robots

1) School of Mechanotronics & Vehicle Engineering, Chongqing Jiao Tong University, Chongqing 400074, China
2) School of Mechanical Engineering, Xi'an Aeronautical University, Xi'an 710077, China

摘要

摘要: 針對輪船螺旋槳清洗時因空間結構曲面復雜而難清理的問題,設計一種搭載于水下吸附式機器人載體上的射流超靈巧機械臂(hyper-dexterous manipulator,HDM)清洗裝置.結合無骨架類生物肌肉高自由度特點構建超靈巧機械臂結構,采用虎克鉸接的連接方式替換相鄰關節連接處的柔性構件,兼顧了高壓水射流承載壓力高的特點.運用幾何分析法對單端機械臂進行正逆運動學建模,基于多關節連桿變換通式推導出基于等圓弧假設下的機械臂模型,進而得出其多關節驅動空間與操作空間的映射關系.仿真實驗和物理實驗對比結果表明,所設計的機械臂能夠達到期望的操作空間位姿,并能在加載實驗下保證一定的魯棒性.
- 清洗機器人 /
- 超靈巧機械臂 /
- 剛柔耦合 /
- 仿生學
Abstract: A hyper-dexterous manipulator (HDM) cleaning device, mounted on an underwater adsorption robot, was designed to address the complications of cleaning the space structure surface on ship propellers. The HDM mechanical structure was constructed by exploiting the high degrees of freedom associated with skeleton-like biological muscle. Considering the characteristics of high-pressure water jet, Hooke's hinge was used to replace flexible components at joints. Kinematics and inverse kinematics modeling of the singleended manipulator was performed using the geometric analysis method wherein a manipulator model based on the assumption of equal arcs was obtained from a multi-joint connecting rod transformation. Then, a mapping relation between the multi-joint drive space and the operation space was derived. The comparison of simulated experiments to physical results reveals that the robot arm design achieves the desired operating position and robustness can be guaranteed during the loading experiment.
- cleaning robots /
- hyper-dexterous manipulator /
- rigid-flexible coupling /
- bionics

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參考文獻(9)

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