用于桥梁检测的冗余度机器人设计及避障能力分析  

Mechanism design and avoidance manipulability analysis of redundant manipulators for bridge detection

作　　者：刘树青[1,2] 汪木兰 

机构地区：[1]南京工程学院先进制造技术工程中心,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

出　　处：《机械设计与制造》2011年第9期152-154,共3页Machinery Design & Manufacture

基　　金：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)

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。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 the main kinematics parameters on manipulability and avoidance manipulability are shown visualized by a contour plot,which lays foundation for the mechanism optimization and the obstacle avoidance motion plan.

关 键 词：桥梁检测 冗余机器人 机构设计 避障能力 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]