蛇形管道机器人设计与轨迹跟踪算法实现  

Design of Snake Robot in Pipeline and Implementation of Trajectory Tracking Algorithm

作　　者：于阳光 吉爱红[1] 邱镓辉 刘亚红 秦国栋 YU Yangguang;JI Aihong;QIU Jiahui;LIU Yahong;QIN Guodong(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2024年第4期201-207,共7页Machine Building & Automation

基　　金：国家重点研发计划项目(2019YFB1309604);国家自然科学基金资助项目(51861135306,51875281)。

摘　　要：蛇形机器人模仿蛇的身体结构与运动机理,具有体积小、自由度多等特点,在复杂环境中表现出优秀的运动性能。设计一种适用于狭小管道环境的蛇形机器人,采用模块化的构型,机器人共拥有5个自由度。利用Denavit-Hartenberg方法对机器人进行运动学分析,基于从机器人尾部到头部的前向轨迹跟踪控制算法,建立机器人的轨迹跟踪运动控制方法;设计实验样机并开展运动控制实验和实际管道转弯实验,验证了机器人结构设计的合理性、逆运动学的正确性和运动控制方法的有效性。Snake robot,imitating the body structure and motion mechanism of snake,small in size and multiple with degrees of freedom,displays excellent motion performance in complex environment.A snake robot suitable for narrow pipe environment was proposed.With modular configuration,the proposed robot had 5 degrees of freedom,and kinematics analysis was conducted by Denavit-Hartenberg method.Based on the forward trajectory tracking control algorithm from the tail to the head of the robot,the trajectory tracking motion control method of the robot was established.The experimental prototype was designed and the experiments on motion control and actual pipe turning were carried out,which verified the rationality of the robot structure design,the correctness of the inverse kinematics and the effectiveness of the motion control method.

关 键 词：蛇形机器人 轨迹跟踪 运动学 管道环境应用 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]