桥梁检测轻质长臂机器人的设计与研究  

Design and Research of Lightweight Bridge Inspection Robot with Long Arm

作　　者：常勇[1,2] 杜文龙[1,3] 景凤仁 王洪光[1,2] Chang Yong;Du Wenlong;Jing Fengren

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]沈阳工业大学机械工程学院,沈阳110016

出　　处：《机械制造》2021年第12期63-68,共6页Machinery

基　　金：国家重点研发计划项目(编号:2019YFB1310400)。

摘　　要：针对高墩、大厚度、宽幅桥梁主梁的快速、便捷检测需求,设计了一种桥梁检测轻质长臂机器人。在桥梁检测轻质长臂机器人机构分析与结构设计的基础上,建立桥梁检测轻质长臂机器人运动学模型,进行运动学反解。根据运动特性分析,规划桥梁检测轻质长臂机器人长臂关节的运动,实现视觉检测云台的位姿调整。通过运动仿真计算,得到桥梁检测轻质长臂机器人各关节参数的规划值。Aiming at the fast and convenient inspection requirements of high pier,large thickness and wide bridge girder,a lightweight bridge inspection robot with long arm was designed. Based on the analysis and structural design of the lightweight bridge inspection robot with long arm,a kinematics model of the lightweight bridge inspection robot with long arm was established and the inverse kinematics solution was performed.According to the analysis of kinetic characteristics,the motion of the long arm joint of the lightweight bridge inspection robot with long arm was planned and the adjustment of the pose of the visual inspection platform was realized. Through the motion simulation calculation,the planned parameter values of the joints of the lightweight bridge inspection robot with long arm were obtained.

关 键 词：桥梁 检测 机器人 设计 研究 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] U446[自动化与计算机技术—控制科学与工程]