冗余绳索驱动蛇形机器人的轨迹规划研究  

Research on Trajectory Planning of Snake Robot Driven by Redundant Rope

作　　者：张晓勇 杜岩平 全朋坤 李云辉 梁卓 ZHANG Xiaoyong;DU Yanping;QUAN Pengkun;LI Yunhui;LIANG Zhuo(Beijing Huashang Sanyou New Energy Technology Co.,Ltd.,Beijing 101106,China;School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150006,China;Shanghai Aerospace Power Technology Engineering Co.,Ltd.,Shanghai 200233,China)

机构地区：[1]北京华商三优新能源科技有限公司,北京101106 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150006 [3]上海航天动力科技工程有限公司,上海200233

出　　处：《机械制造与自动化》2024年第5期251-254,共4页Machine Building & Automation

摘　　要：传统机械臂无法进入狭窄封闭的空间作业,冗余绳索驱动机器人有很好的灵活性,因此在狭小封闭空间应用潜力巨大。针对冗余绳索驱动机械臂在狭窄空间作业时的避障问题,提出一套轨迹规划算法。该算法利用搜索算法得到离散模式下的初始规划路径,等间隔法选取初始规划路径的关键点,基于三次B样条曲线,将关键点生成可行路径。通过仿真实验,验证了所提出算法的可行性和有效性。Redundant rope-driven robot,flexible and different to traditional manipulator which is incabable of entering the narrow and closed space for operation,has potentiality for application in a narrow and closed space.To cope with the obstacle avoidance trouble of redundant cable-driven manipulator operating in a narrow space,a set of trajectory planning algorithm is proposed,which implements the search algorithm to obtain the initial planning path in discrete mode,selects the key points of the initial planning path by the equal interval method,and generates a feasible path from the key points based on the cubic B-spline curve.The simulation experiments verify the feasibility and effectiveness of the proposed algorithm.

关 键 词：绳索驱动 蛇形机器人 轨迹规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]