起重机攀爬机器人运动学分析与仿真  

Kinematics analysis and simulation of crane climbing robot

作　　者：赵章焰[1] 秦烺 Zhao Zhangyan;Qin Lang

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063

出　　处：《起重运输机械》2022年第14期14-19,共6页Hoisting and Conveying Machinery

基　　金：国家级基金“机电类特种设备风险防控与治理关键技术研究及装备研制”(2017YFC0805703)。

摘　　要：为了提高大型起重机械表面检测维护的安全性和效率,使用设计的攀爬机器人替代工作人员。文中以攀爬机器人为研究对象,对其越障过程中的运动学以及运行轨迹进行研究。采用改进的D-H参数法对机器人支腿建立关节模型,在此基础上推导机器人的正逆运动学模型。以蒙特卡洛法分析机器人越障过程中的支腿工作空间,并计算绘制机器人支腿末端点的工作云图。使用五次多项式插值方法研究机器人在越障过程中从初始点到终点的路径,利用Matlab的Robotics Toolbox工具箱进行轨迹规划仿真,并分析机器人支腿末端点的位移、速度、加速度和轨迹。仿真结果表明,机器人在越障过程中运行平稳,能够顺利完成工作。运动学的分析也为后续的动力学、控制算法以及运动规划分析奠定理论基础。In order to improve the safety and efficiency of surface inspection and maintenance of large-scale hoisting machinery,climbing robots are used instead of workers.In this paper,the climbing robot is taken as the research object,and its kinematics and trajectory in the process of obstacle crossing are studied.The improved D-H parameter method is used to establish the joint model of the robot leg,and on this basis,the forward and inverse kinematics model of the robot is deduced.Monte Carlo method is used to analyze the workspace of the robot’s outrigger during obstacle crossing,and the working cloud map of the robot’s outrigger end point is drawn.The quintic polynomial interpolation method is used to study the path of the robot from the initial point to the end point in the obstacle-crossing process.The trajectory is simulated and planned by the Robotics Toolbox of Matlab,and the displacement,velocity,acceleration and trajectory of the robot’s leg end point are analyzed.The simulation results show that in the process of obstacle-crossing,the robot runs smoothly and can finish the work smoothly.Kinematics analysis lays a theoretical foundation for subsequent dynamics,control algorithm and motion planning analysis.

关 键 词：攀爬机器人 运动学分析 多项式插值 工作域 轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]