| 螺旋桨清洗机器人超灵巧机械臂设计 |
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| 引用本文： | 罗天洪, 王晴, 马翔宇. 螺旋桨清洗机器人超灵巧机械臂设计[J]. 工程科学学报, 2017, 39(6): 924-932. DOI: 10.13374/j.issn2095-9389.2017.06.016 |
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| 作者姓名： | 罗天洪 王晴 马翔宇 |
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| 作者单位： | 重庆交通大学机电与车辆工程学院,重庆,400074;西安航空学院机械工程学院,西安,710077 |
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| 基金项目： | 国家自然科学基金资助项目(51375519)重庆市研究生科研创新基金资助项目(CYS15181) |
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| 摘 要： | 针对轮船螺旋桨清洗时因空间结构曲面复杂而难清理的问题,设计一种搭载于水下吸附式机器人载体上的射流超灵巧机械臂(hyper-dexterous manipulator,HDM)清洗装置.结合无骨架类生物肌肉高自由度特点构建超灵巧机械臂结构,采用虎克铰接的连接方式替换相邻关节连接处的柔性构件,兼顾了高压水射流承载压力高的特点.运用几何分析法对单端机械臂进行正逆运动学建模,基于多关节连杆变换通式推导出基于等圆弧假设下的机械臂模型,进而得出其多关节驱动空间与操作空间的映射关系.仿真实验和物理实验对比结果表明,所设计的机械臂能够达到期望的操作空间位姿,并能在加载实验下保证一定的鲁棒性.
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| 关 键 词： | 清洗机器人 超灵巧机械臂 刚柔耦合 仿生学 |
| 收稿时间： | 2016-12-28 |
Ultra-smart manipulator design for propeller-cleaning robots |
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| LUO Tian-hong, WANG Qing, MA Xiang-yu. Ultra-smart manipulator design for propeller-cleaning robots[J]. Chinese Journal of Engineering, 2017, 39(6): 924-932. DOI: 10.13374/j.issn2095-9389.2017.06.016 |
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| Authors: | LUO Tian-hong WANG Qing MA Xiang-yu |
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| Affiliation: | 1) School of Mechanotronics & Vehicle Engineering, Chongqing Jiao Tong University, Chongqing 400074, China2) School of Mechanical Engineering, Xi'an Aeronautical University, Xi'an 710077, China |
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| 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. |
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| Keywords: | cleaning robots hyper-dexterous manipulator rigid-flexible coupling bionics |
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