绳驱蛇形机械臂绳索容错可达空间分析  

Analysis on Cable Fault Tolerance Kinematics Space of Cable-driven Snake-arm Robots

作　　者：陈慧卿 杨太玮 Chen Huiqing;Yang Taiwei(Shenzhen International Graduate School,Tsinghua University,Shenzhen 518055,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology,Shenzhen 518055,China)

机构地区：[1]清华大学深圳国际研究生院,广东深圳518055 [2]哈尔滨工业大学(深圳)机电工程与自动化学院,广东深圳518055

出　　处：《机械传动》2024年第8期64-69,共6页Journal of Mechanical Transmission

摘　　要：蛇形机械臂因其结构紧凑、运动灵活、具备在狭小空间和危险环境中的作业能力而受到广泛关注和探索研究。基于绳驱蛇形机械臂机器人结构特征,用Denavit-Hartenberg(D-H)法建立运动学分析模型,并应用蒙特卡洛法对其进行了求解;通过Matlab软件对不同工况下的绳驱蛇形机械臂可达空间进行模拟仿真,确定了绳驱蛇形机械臂完好状态下和蛇形机械臂任意单根驱动绳索故障断裂情况下的可达空间范围。该研究不仅有效揭示了不同臂段对绳驱蛇形机械臂可达空间的影响,还为系统地进行蛇形机械臂臂部结构优化设计和运动轨迹规划控制奠定了基础。Snake-arm robots attract extensive attention and research because of its compact structure,flexible motion and operational ability in narrow space and dangerous working conditions.In this study,coordi⁃nates are built according to Denavit-Hartenberg(D-H)method based on structure characteristics of cable-driv⁃en snake-arm robots,and then kinematics analysis is conducted with Monte Carlo method.The reachable space ranges of the cable-driven snake-arm under different modes is simulated by Matlab.The reachable space rang⁃es have been determined for the intact condition of the cable-driven snake-arm when failure and fracture of any single driving cable are presented in the snake-arm.The results not only reveal the influence of different arm segments on the reachable space of snake-arm robots,but also lay a foundation for the arm segments structure design optimization and the intelligent trajectory planning of the cable-driven snake-arm.

关 键 词：蛇形机械臂 绳索驱动 多冗余自由度 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]