基于MATLAB的应急救援机器人工作装置运动学分析  

Analysis and validation of emergency rescue robot work device based on MATLAB

作　　者：程潜 张大庆 唐琦军 彭轩昂 阳松波 CHENG Qian;ZHANG Daqing;TANG Qijun;PENG Xuanang;YANG Songbo(College of Mechanical and Electrical Engineering,Hunan Agricultural University,Changsha 410128,Hunan,China;Sunward Intelligent Equipment Co.,Ltd.,Changsha 410131,Hunan,China)

机构地区：[1]湖南农业大学机电工程学院,湖南长沙410128 [2]山河智能装备股份有限公司,湖南长沙410131

出　　处：《农业装备与车辆工程》2025年第1期96-102,共7页Agricultural Equipment & Vehicle Engineering

基　　金：国家重点研发计划“隧道典型事故灾后一体化灾损应急处置技术与装备”(2021YFC3002003);湖南省科技创新计划资助“丘陵山区油茶机械化抚育关键技术与装备研发”(2023NK2009)。

摘　　要：为了拓展应急救援机器人的作业范围、提高作业灵活性,对团队研制的带有伸缩臂、最大伸缩量可达1.2 m的工作装置进行运动学建模与仿真。采用改进的Denavit-Hartenberg(D-H)参数法建立机械臂的运动学模型,结合几何法与解析法求解正逆运动学方程。通过MATLAB中的Robotics Toolbox进行仿真,探讨属具换装过程的轨迹规划,包括笛卡尔坐标空间路径规划和关节空间多项式轨迹规划,确保了机械臂在执行换装任务时各个关节的运动平滑无突变。对得出的各个关节的位移、速度、加速度曲线进行分析可知,经过规划后各个关节运动平滑且无突变,验证了运动学模型的准确性。分析增加伸缩臂后的工作装置作业包络图,相较于无伸缩臂的工作装置作业范围增加了85.15%,优于常规挖掘机的作业范围。结果可为机器人工作装置的运动规划及智能控制提供理论基础和技术支持。To expand the operation range and enhance the operation flexibility of the emergency rescue robot,the team developed a set of working devices equipped with telescopic arms,with a maximum telescopic length reaching 1.2 m.The kinematic model of the mechanical arm was established by employing the improved Denavit-Hartenberg(D-H)parameter method,and the forward and inverse kinematic equations were solved through a combination of the geometric and analytical methods.Simulation was carried out via the Robotics Toolbox in MATLAB,exploring the trajectory planning during the attachment replacement process,encompassing path planning in the Cartesian coordinate space and polynomial trajectory planning in the joint space,ensuring smooth and non-abrupt motion of each joint when the mechanical arm executes the attachment replacement task.The displacement,velocity,and acceleration curves of each joint were analyzed.It could be known that after planning,the motion of each joint was smooth and without abrupt changes,validating the accuracy of the kinematic model.The operation envelope diagram of the working device after adding the telescopic arm was analyzed.It was discovered that compared to the working device without the telescopic arm,the operation range increased by 85.15%,outperforming the operation range of conventional excavators.The research results offer a theoretical foundation and technical support for the motion planning and intelligent control of the robot′s working devices.

关 键 词：应急救援机器人 工作装置 运动学建模 轨迹规划 MATLAB仿真 

分 类 号：TU621[建筑科学—建筑技术科学]