机器人小跨距长线缆形态模型的构建与研究  

Construction and Research of Robot’s Cable Shape Model With Small Span and Long Cable

作　　者：康开东 杭鲁滨 陈君荣 李文涛 林士森 张佳乐 冷海龙 KANG Kaidong;HANG Lubin;CHEN Junrong;LI Wentao;LIN Shisen;ZHANG Jiale;LENG Hailong(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,Shanghai 201620,China;State Nuclear Power Plant Service Company,Shanghai 200233,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]上海市大型构件智能制造机器人技术协同创新中心,上海201620 [3]国核电站运行服务技术有限公司,上海200233

出　　处：《机械设计与研究》2024年第5期254-260,共7页Machine Design And Research

基　　金：国家自然科学基金资助项目(51475050);上海市大型构件智能制造机器人技术协同创新中心开放基金项目(ZXY20211101);上海市主泵法兰螺栓自动检测装置三维空间轨迹测试基金项目(GHYX2021PS168)。

摘　　要：核电运维机器人在非结构、狭小空间中工作,线缆为传递能量及信号的重要部件,小跨距长线缆形态模型构建与研究是其稳定可靠运行的关键问题。针对机器人小跨距长线缆外凸干涉触碰风险,提出了采用扭簧臂杆结构支撑线缆,增大跨距使两侧线缆形态保持相对竖直状态,实现线缆不外凸,避免了运动线缆干涉触碰;发现了线缆不发生外凸现象的条件,即两挂靠点跨距L≥线缆最小弯曲直径D。针对机器人小跨距长线缆的标准悬链线描述实际线缆形态失真的问题,提出了以最小弯曲半径作为约束,对两挂靠点跨距L≤3D的情况,构建了线长控制参数b和线缆最小弯曲半径R两参变元的修正悬链线模型;当D<L≤3D时,提出了修正悬链线与标准悬链线组合模型描述线缆实际形态;当L≤D时,提出了修正悬链线与最小弯曲圆弧组合模型描述线缆形态,修正了标准悬链线未考虑线缆弯曲半径约束的形态失真。算例及试验验证了小跨距长线缆新模型合理性和有效性,使线缆模型更符合实际形态。The nuclear power operation and maintenance robot works in unstructured and narrow space.The cable is an important component to transmit energy and signals,and the construction and analysis of small span long cable shape model is the key problem for its stable and reliable operation.In order to solve the risk of interference contact caused by the outer protrusion of small span and long cables,the torsion spring arm structure is proposed to support the cable to increase the span between both ends to prevent protrusion,and so that the two sides of the shape remain relatively vertical and avoid the interference of the moving cable.To prevent external protrusion of cables,the span between both ends L should be larger or equal to the minimum bending diameter D.Aimed at the problem of standard catenary cable shape error of small span long cables,the minimum bending radius is proposed as the constraint condition.For the L≤3D small span condition,the modified catenary model of the cable line length control parameter b and minimum bending radius R are constructed.For the D<L≤3D condition,a modified catenary and standard catenary combination model is proposed to describe the actual shape of the cable.For the L≤D condition,a modified catenary and minimum curved arc combination model is proposed to describe the actual shape of the cable,and the shape error caused by ignoring the cable minimum bending radius constraint is corrected.The rationality and effectiveness DOI:10.13952/j.cnki.jofmdr.2024.0192 of the new model for small span long cables are verified by experiments.The cable model is consistent with the real cable.

关 键 词：扭簧臂杆结构 小跨距长线缆 两挂靠点跨距 线缆形态 修正悬链线模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]