双臂协同检修机器人系统设计与仿真分析  

Design and Simulation Analysis of Dual-arm Collaborative Maintenance Robot System

作　　者：李彰 吴学洲 朱性利[1] 汪曼 LI Zhang;WU Xuezhou;ZHU Xingli;WANG Man(Research Institute of Nuclear Power Operation.In-service Inspection Center,Wuhan 430200,China;China Nuclear Power Operation Technology Co.,Ltd.,Wuhan 430200,China)

机构地区：[1]核动力运行研究所,武汉430200 [2]中核武汉核电运行技术股份有限公司,武汉430200

出　　处：《机械工程师》2022年第5期153-157,共5页Mechanical Engineer

摘　　要：针对典型检修任务和作业灵活性的需求,设计了一套移动式双臂协同检修机器人平台。文中对机器人的系统组成、机械臂构型和关节设计、总控平台控制功能设计进行了介绍,同时针对机械臂的耐辐照需求,对机械臂关节进行了器件筛选、辐照测试和抗辐射加固设计。基于轨迹规划和运动学建模,通过虚拟环境的动力学仿真分析了机械臂在运动过程中对于整个机器人系统稳定性的影响。最后,对双摆臂式履带移动平台进行了越障规划,并通过障碍物越障的实验测试验证了双摆臂式履带机器人的越障能力。Aiming at the requirements of typical maintenance tasks and operational flexibility, a mobile dual-arm collaborative maintenance robot platform is designed. This paper introduces the system composition of the robot, the configuration and joint design of the manipulator, and the control function design of the master control platform. According to the radiation resistance requirements of the manipulator, the device screening, irradiation test and radiation hardening design of the manipulator joint are carried out. Based on trajectory planning and kinematic modeling, the dynamic simulation of the virtual environment is used to analyze the influence of the robotic arm on the stability of the entire robot system during the movement process. Finally, the obstacle-surmounting planning of the double-swing arm crawler mobile platform is carried out, and the obstacle-surmounting ability of the double-swing arm crawler robot is verified through the experimental test of obstacle overcoming.

关 键 词：双臂机器人 移动式机器人 机器人仿真 双摆臂履带机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]