多足蠕动式攀爬机器人混联机构运动特性及其工作空间  

Kinematic Characteristics and Workspace in Hybrid Mechanism of Multi-legged Peristaltic Climbing Robot

作　　者：陈凯云 盛晨原 CHEN Kaiyun;SHENG Chenyuan(School of Mechanical Engineering,Heilongjiang University of Science&Technology,Harbin 150022)

机构地区：[1]黑龙江科技大学机械工程学院,哈尔滨150022

出　　处：《机械工程学报》2023年第9期28-39,共12页Journal of Mechanical Engineering

摘　　要：针对海洋钢桩腐蚀防护的自动化作业问题,提出一种多足蠕动式攀爬机器人。该机器人在攀爬过程中具有混联构型和并联构型两种状态,通过两组机械足交替夹持与移动,实现攀爬作业任务。基于螺旋理论和修正的Grübler-Kutzbach公式,分析机器人的自由度,得到机器人并联部分机构的自由度恒为1,不会受到机械足数量的影响;采用Denavit-Hartenberg(D-H)法和解析法,建立机器人的运动学模型,确定机械足与机器人主体的位置映射关系;利用蒙特卡洛算法,计算六足、八足以及十足的机器人攀爬工作空间。基于此,在确定海洋钢桩的规格后,综合考虑机器人主体尺寸、夹持力等因素,最终选择六足构型。通过若干组机器人攀爬实验,对建立的机器人运动学模型进行验证。试验结果表明:研制的六足蠕动式攀爬机器人实验样机结构设计合理,符合攀爬工作要求。研究成果将为海洋钢桩腐蚀防护自动化装备的研制,以及混联机构在管外攀爬机器人领域中的应用,提供理论依据。A multi-legged peristaltic climbing robot hybrid mechanism is proposed to solve the problem in the automatic corrosion protection of marine steel piles.According to the climbing stage,which is mixed configuration and parallel configuration,the climbing task is realized by alternating and reciprocating the movement of two groups of mechanical legs.Spiral theory and modified Grübler-Kutzbach formula are applied to analysis of robot freedom characteristics,and results show that the quantity of parallel mechanism freedom in robot is a constant one,which is not affected by the quantity of mechanical legs.And both D-H and analytical methods are used for robot kinematics model,then the position mapping relationship between the mechanical legs and the robot body is determined.The Monte Carlo algorithm is adopted to calculate the climbing workspace of hexapod,octopod and decapod robots.Based on the specification of the marine steel pile,the hexapod configuration is finally selected by considering the robot size,clamping force and other factors.The kinematic model of the robot was verified by several climbing experiments.All in all,they prove that the structure of hexapod peristaltic climbing robot is reasonable and meet the work requirements.The research results will provide a theoretical base for both the development of automatic corrosion protection equipment for marine steel piles and the practical application of hybrid mechanisms in the field of off-pipe climbing robots.

关 键 词：攀爬机器人 混联机构 螺旋理论 运动特性 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]