仿生四爪式爬管机器人的运动学分析与仿真

设计了一种具有较强的越障性能和负载能力的仿生四爪式爬管机器人,分析了机器人的构型与步态;采用D-H参数法建立了各连杆坐标系,并对各关节的正逆运动学方程进行求解;利用Matlab中Robotics Toolbox模块,建立了机器人在上部躯干两侧手爪处于夹紧状态时的运动学模型,求解得到各关节角度、速度及加速度与时间的关系曲线;将机器人在robotic中的关节运动所得到的数据拟合成Spline曲线,并导入ADAMS中进行机器人整体虚拟样机仿真;仿真实验表明机器人能够顺利进行尺蠖式爬升运动,验证了结构的合理性和运动学方程求解的正确性。

Kinematics Analysis and Simulation of a Bionic Four-Claw Pipeline Inspection Robot

A bionic four-claw pipeline inspection robot with strong obstacle performance and load capacity was designed,and the configuration and gaits of the robot were analyzed. The coordinate system of each connecting rod was established by D-H parameter method,and the forward and inverse kinematic equations of each joint were solved. Using Robotics Toolbox module in Matlab,the kinematic model of the robot was established when both sides of the grips in upper torso were clamped,and relation curves of each joint among the angle,velocity and acceleration with time were obtained. The data obtained by the robot movement in Matlab has been fitted into a spline curve,and imported into ADAMS for Virtual Prototype Simulation of the whole robot. The simulation results show that robot can smoothly proceed inchworm-climb motion and verify rationality of the structure as well as correctness of the kinematics equation.