仿生四足船体清洗机器人的运动学分析和仿真  

Kinematics Analysis and Simulation of Bionic Quadruped Hull Cleaning Robot

作　　者：邵博 张义民[1] 张凯 SHAO Bo;ZHANG Yimin;ZHANG Kai(Institute of Equipment Reliability,Shenyang University of Chemical Technology,Liaoning Shenyang 110142,China)

机构地区：[1]沈阳化工大学装备可靠性研究所,辽宁沈阳110142

出　　处：《机械设计与制造》2025年第3期315-319,共5页Machinery Design & Manufacture

基　　金：大型重载滚动轴承的可靠性和寿命预测的理论与方法研究.NSFC-辽宁联合基金(批准号:U1708254);国家重点研发计划的重点专项子课题(2019YFB2004400);辽宁省教育厅项目(批准号:LJKZ0462)。

摘　　要：为高效安全的清洗船体,替代人工,设计了一种具有一定越障能力和灵活的仿生四足船体清洗机器人。分析了机器人的具体机械结构;以单腿结构为研究对象,基于D-H参数法的变换思想,构建腿部各连杆节点处的坐标系,推导和求解出杆件的正逆运动学,得出机器人腿部末端执行器的位姿方程;在Matlab平台下,将机器人腿部模型运用Robotics Toolbox建立起,分析对比后验证了运动学方程的正确性,利用蒙特卡洛法的思想,根据正运动学方程求解出机器人腿部末端执行器的工作空间图像;使用Adams平台进行机器人整体虚拟样机仿真,得出了机器人的运动情况,分析了四足机器人运行时的稳定性。该设计方案拓展了机器人的应用领域。In order to clean the hull efficiently and safely,instead of artificial,a bionic quad-legged hull cleaning robot with certain barrier-crossing ability and flexibility is designed.It analyzes the specific mechanical structure of the robot,takes the onelegged structure as the research object,constructs the coordinate system at each link node of the leg,deduces and solves the positive and reverse kinetics of the rod part,obtains the position equation of the robot leg end actuator,establishes the robot leg model by Robots Toolbox,analyzes and compares the correctness of the kinesiology equation and uses Monte Carlo method.According to the positive motion equation,the working space image of the robot's leg end actuator is solved,the robot's overall virtual prototype simulation using Adams platform is obtained,and the stability of the four-legged robot's operation is analyzed.The design expands the application field of robots.

关 键 词：四足机器人 正逆运动学 虚拟样机 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]