| 基于几何法的管道焊缝扫查七关节机器人逆运动学分析 |
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| 引用本文： | 鄢波,颜国正. 基于几何法的管道焊缝扫查七关节机器人逆运动学分析[J]. 中国机械工程, 2005, 16(1): 20-23 |
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| 作者姓名： | 鄢波 颜国正 |
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| 作者单位： | 上海交通大学,上海,200030 |
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| 摘 要： | 设计了一种在线夹持式的相贯线扫查冗余机器人,可用于核工业插接管道焊缝的超声探伤。对该机器人进行了运动学分析,通过几何法和D-H矩阵变换求解了机器人关节空间内的逆运动学问题,得到了任务空间中基于管道扫查特征参数的关节变量表达式,为相贯线扫描路径参数的在线优化提供了设计途径。分析结果和方法可普遍适用于插接管道在线作业机器人的轨迹规划。
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| 关 键 词： | 相贯线 机器人 运动学 焊缝 |
| 文章编号： | 1004-132X(2005)01-0020-04 |
Inverse Kinematics Analysis of 7-DOF Manipulator for Pipe''''s Weld Inspection Based on Geometric Method |
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| Yan Bo Yan Guozheng Shanghai Jiaotong University,Shanghai. Inverse Kinematics Analysis of 7-DOF Manipulator for Pipe''''s Weld Inspection Based on Geometric Method[J]. China Mechanical Engineering, 2005, 16(1): 20-23 |
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| Authors: | Yan Bo Yan Guozheng Shanghai Jiaotong University Shanghai |
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| Affiliation: | Yan Bo Yan Guozheng Shanghai Jiaotong University,Shanghai,200030 |
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| Abstract: | Online clamped redundant manipulator for intersection curve scanning was designed. It can be used for ultrasonic inspection of pipeline intersection weld seam in nuclear industry. Kinematics analysis was done for the manipulator and inverse kinematics problem was solved in the joint space of the manipulator according to the geometric method and D-H matrix transformation. Expression about joint variables was obtained based on the scanning characteristic parameters of pipeline. It provides the design way for online trajectory parameter optimization of the intersection curves. The analysis results and theory can be widely applied for trajectory planning of online intersection pipeline manipulators. |
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| Keywords: | intersection curve manipulator kinematics weld |
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