面向复杂狭窄结构检测清除的超冗余度机器人研究进展  

Review of Hyper Redundant Robots for Detection and Clearing of Complex Narrow Spaces

作　　者：薛雷 邓江沁 李子清 刘超[2] 吕美凤 谷国迎[2] XUE Lei;DENG Jiang-qin;LI Zi-qing;LIU Chao;LÜMei-feng;GU Guo-ying(COMAC Shanghai Aircraft Manufacturing Co.,Ltd.,Shanghai 201324,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海飞机制造有限公司,上海201324 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《科学技术与工程》2023年第30期12786-12795,共10页Science Technology and Engineering

基　　金：上海市科学技术委员会项目(22511101700)。

摘　　要：超冗余度机器人具有大长径比、灵巧运动、柔性操作等优点,在航空航天制造、高端装备检修等受限空间的自动化作业中具有重要的应用前景。然而,由于超冗余度机器人的冗余自由度的特性,传统工业机器人的设计、建模与控制方法不可直接应用,超冗余度机器人的相关理论研究面临着严峻的挑战。对中外面向复杂狭窄结构检测清除的超冗余度机器人的研究工作进行了分析,从结构设计、运动学建模、控制方法、运动规划等方面对现有的研究内容进行了分析和总结,并对超冗余度机器人的研究发展进行了展望。Due to the advantages of large aspect ratio,agile motion and flexible operation,hyper redundant robots have shown important applications for working in narrow spaces,such as aerospace manufacturing and high-end equipment.However,the design,modeling and control methods of traditional industrial robots are no longer applicable for hyper redundant robots because of their redundant degrees of freedom,resulting serious challenge for hyper redundant robots.The hyper redundant robots for detecting and clearing complex narrow spaces,and the structure design,kinematic modeling,control method and motion planning of existing hyper redundant robots were summarized,respectively.The future work of hyper redundant robots were prospected.

关 键 词：结构设计 运动学 控制方法 运动规划 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]