五自由度双清洗盘清洗机械臂的运动学分析与路径规划  

Kinematic Analysis and Path Planning of a 5-DOF Cleaning Robot Arm with Dual Cleaning Discs

作　　者：王怡[1,2,3] 方珍龙 WANG Yi;FANG Zhenlong(Wuhan University of Technology,State Key Laboratory of Maritime Technology and Safety,Wuhan 430063,China;Wuhan University of Technology,School of Transportation and Logistics Engineering,Wuhan 430063,China;Sanya Science and Education Innovation Park of Wuhan University of Technology,Sanya 572025,Hainan,China)

机构地区：[1]武汉理工大学水路交通控制全国重点实验室,武汉430063 [2]武汉理工大学交通与物流工程学院,武汉430063 [3]武汉理工大学三亚科教创新园,海南三亚572025

出　　处：《船舶工程》2025年第2期119-128,共10页Ship Engineering

基　　金：海南省重大科技计划项目(No.ZDKJ202015);湖北省“智能建造”青年科技人才联合项目(No.2024DJC009)。

摘　　要：[目的]为了提高机械臂对船舶表面污损的清洗效率,研究一种五自由度双清洗盘清洗机械臂模型并提出相应的清洗策略。[方法]采用改进型D-H法建立机械臂的运动学模型,并利用蒙特卡洛法对其可达工作空间进行仿真评估;采用7次多项式插值方法拟合各关节的运动曲线,使用K-means算法对二维栅格区域内随机生成的清洗点按距离进行分类,通过蚁群优化(ACO)算法规划出每个清洗盘的最优移动路径。[结果]该模型可达工作空间能够适应不同曲率的船舶表面,各关节的轨迹规划曲线较为平滑,且清洗盘路径规划方法高效。[结论]该机械臂模型具有较强的适应性和较高的清洗效率,可供多清洗盘清洗机械臂的应用设计参考。[Purpose]Aiming to enhance cleaning efficiency,this study proposes a 5-DOF dual cleaning disc robotic arm model,along with an optimized cleaning strategy for ship surface fouling.[Method]Firstly,an improved Denavit-Hartenberg(D-H)method is employed to establish the kinematic model of the robotic arm,and the Monte Carlo method is used to simulate and evaluate its reachable workspace.Secondly,a seventh-order polynomial interpolation method is applied to fit the motion curves of each joint.The K-means algorithm is then used to classify the cleaning points,randomly generated in a 2D grid area,based on distance.Finally,the ant colony optimization(ACO)algorithm is used to plan the optimal movement path for each cleaning disc.[Result]The model's reachable workspace is capable of adapting to ship surfaces with different curvatures.The trajectory planning curves for each joint are smooth,and the cleaning disc path planning method is efficient.[Conclusion]This robotic arm model demonstrates strong adaptability and high cleaning efficiency,providing a valuable reference for the design of multi-cleaning disc robotic arms.

关 键 词：船舶表面清洗 五自由度机械臂 运动学分析 轨迹规划 

分 类 号：U672.72[交通运输工程—船舶及航道工程]