六关节检修机械臂动态碰撞检测  

Dynamic collision detecting study of six-joint repairing manipulator

作　　者：陆军[1] 杨秀成 朱齐丹[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨黑龙江150001

出　　处：《应用科技》2010年第12期9-13,共5页Applied Science and Technology

摘　　要：该六关节机械臂被用于蒸汽发生器的检修工作.为了实现在狭小的工作空间内无碰撞的安全工作,如何判断和避免碰撞是关键问题.针对发生碰撞的2种情况:机械臂各关节和检修工具与蒸汽发生器水室内壁、挡板面和管板面间的碰撞;机械臂各关节之间以及与检修工具间的碰撞,采用基于AABB盒和等效空间圆柱体相结合的网络包围法,对可能发生碰撞的部位进行了系统分析和研究,将机械臂的碰撞检测问题转化为空间解析几何问题,大大简化了问题的求解,得到了碰撞检测算法,并用Visual C++予以实现.通过仿真分析和实验证明了该方法的有效性.This six-joint manipulator is used in detecting and repair work of a steam generator.The collision detecting and avoidance is a key problem in order to safely work in narrow environment without any collision by using the manipulator.There are two situations of the collision： the collision between manipulator joints,repair tool and the steam generator＇s inner wall,the surface of baffle and tube plate;manipulator＇s own collisions between the joints and repair tool.By using a network bounding method,which is based on the AABB box and equivalent cylinder,a systematic analysis and study is carried out for the location of possible collisions.The method transforms the collision check into space analytic geometry problem,and simplifies the problem＇s solution.The collision detection algorithm is gained and implemented by visual C＋＋.The validity of the algorithm is verified by simulation analysis and experiment.

关 键 词：六关节机械臂 蒸汽发生器 碰撞检测 AABB盒 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]