| 用于桥梁检测的冗余度机器人设计及避障能力分析 |
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| 引用本文： | 刘树青,汪木兰. 用于桥梁检测的冗余度机器人设计及避障能力分析[J]. 机械设计与制造, 2011, 0(9) |
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| 作者姓名： | 刘树青 汪木兰 |
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| 作者单位： | 1. 南京工程学院先进制造技术工程中心,南京211167;先进数控技术江苏省高校重点建设实验室,南京211167
2. 先进数控技术江苏省高校重点建设实验室,南京,211167 |
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| 基金项目： | 江苏省“六大人才高峰”项目资助(2008163); 南京工程学院科研基金资助(KXJ08129) |
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| 摘 要： | 针对桥梁检测设备的现状,提出一种新的具有冗余自由度的桥梁检测机器人方案,以实现检测摄像机在桥底的定位。对所提出的桥梁检测机器人进行了构型设计和运动学分析,利用可操作椭球和避障操作椭球的概念对其可操作度和避障能力进行了评估及仿真,以等高线图的形式直观地表示了机构主要参数对机器人可操作度及避障能力的影响,为机器人机构参数优化以及避障路径规划提供了依据。
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| 关 键 词： | 桥梁检测 冗余机器人 机构设计 避障能力 |
Mechanism design and avoidance manipulability analysis of redundant manipulators for bridge detection |
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| LIU Shu-qing,WANG Mu-lan. Mechanism design and avoidance manipulability analysis of redundant manipulators for bridge detection[J]. Machinery Design & Manufacture, 2011, 0(9) |
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| Authors: | LIU Shu-qing WANG Mu-lan |
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| Affiliation: | LIU Shu-qing 1,2,WANG Mu-lan 2 (1 Advanced Manufacturing & Engineering Center Nanjing Institute of Technology,Nanjing 211167,China) (2 Advanced Numerical Control Tehnology Key Laboratory of Colleges and University in Jiangsu Rovince,China) |
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| Abstract: | The scheme of a new bridge detection robot with redundant degrees of freedom is present-ed against the present state of the devices used in bridge detection in order to position a detecting camera on the robot end under the deck.The mechanism design and kinematics analysis in the detecting robot pre-sented are provided in this work,in which the manipulability and avoidance manipulability are evaluated and simulated using manipulability ellipsoid and avoidance manipulability ellipsoid.And the influence of th... |
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| Keywords: | Bridge detection Redundant robot Mechanism design Avoidance manipulability |
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