巷道管道安装机器人结构设计与分析  

Structure and Motion Planning of Tunnel Pipeline Installation Robot

作　　者：隋明航 李艳杰[1] 郎智明[2,3] 卜春光 纪兆俊[1] SUI Ming-hang;LI Yan-jie;LANG Zhi-ming;BU Chun-guang;JI Zhao-jun(School of Mechanical Engineering,Shenyang Ligong University,Shenyang 110159,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Innovation Institute of Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [3]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《科学技术与工程》2025年第8期3288-3295,共8页Science Technology and Engineering

基　　金：国家重点研发计划(2022YFB4703600)。

摘　　要：针对煤矿井下巷道实际环境条件与井下管道安装这一实际应用背景,设计一款关节式巷道管道安装机器人,对机械臂结构进行详细设计并完成其三维建模。建立机器人运动学模型,通过MATLAB对机械臂的正逆运动学进行验证。基于所建的运动学模型进行机械臂笛卡尔空间的轨迹规划算法设计,通过MATLAB和ADAMS软件对机械臂进行仿真实验验证。仿真表明,本机械臂的结构设计合理,机械臂轨迹规划方案可行。Given the practical application background of installing underground pipelines in coal mine tunnels and the actual environmental conditions underground,a jointed tunnel pipeline installation robot was designed.The detailed design of the robotic arm structure was completed,along with its 3D modeling.The kinematic model of the robot was established,and MATLAB was employed to verify the forward and inverse kinematics of the robotic arm.Based on the established kinematic model,a trajectory planning algorithm for the Cartesian space of the robotic arm was designed,and MATLAB and ADAMS software were used to verify the robotic arm through simulation experiments.The simulation demonstrates that the structural design of the robotic arm is reasonable,and the trajectory planning scheme for the robotic arm is feasible.

关 键 词：结构设计 运动规划 MATLAB 运动学仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]