基于动力学降噪模型的蛇形臂机器人末端轨迹跟随算法  

Tip-trajectory Following Algorithm for Snake-arm Robots Based on Dynamics Denoising Model

作　　者：张志刚 靳勇利 王栋银 付志军 秦国栋 ZHANG Zhigang;JIN Yongli;WANG Dongyin;FU Zhijun;QIN Guodong(Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,Zhengzhou University of Light Industry,Zhengzhou,450002;Institute of Plasma Physics,Chinese Academy of Sciences,Hefei,230026)

机构地区：[1]郑州轻工业大学河南省机械装备智能制造重点实验室,郑州450002 [2]中国科学院等离子体物理研究所,合肥230026

出　　处：《中国机械工程》2025年第3期407-413,共7页China Mechanical Engineering

基　　金：国家自然科学基金(12305251);河南省科技攻关项目(232102221036,242102241049);河南省外籍科学家工作室项目(GZS2023011)。

摘　　要：针对超冗余蛇形机器臂在狭小受限空间的运动规划问题,提出了一种基于等效多连杆动力学降噪模型的末端轨迹跟随算法。将蛇形臂视作关节点约束在末端无碰撞轨迹曲线上运动的多连杆系统,基于虚功原理推导了该刚柔耦合系统的动力学方程。臂节的长度条件由连杆的轴向刚度保证,并通过模型降噪方法从模型层面滤除高频分量影响,使常规显式算法可用于等效多连杆系统方程的高效求解。采用所提算法可以指定蛇形臂末端或基座的速度规律,进而实现蛇形臂沿末端轨迹的运动规划。由于蛇形臂关节被严格限制在可行性轨迹曲线上运动,因此可以实现在狭小深腔环境下的避障运动规划。通过求解平面和空间典型数值算例可知,采用所提算法进行蛇形机械臂运动规划具有足够的计算精度和效率。Based on dynamics model smoothing formulation of equivalent multi-link system,a tip-trajectory following algorithm was proposed for motion planning of hyper-redundant SARs in narrow and confined spaces.Regarding SAR as a multi-link system of joint points constrained to move on collision-free trajectory curve of tip,and the dynamics equation of rigid-flexible coupling system was derived using virtual work principle.The length conditions of robot arm segments were guaranteed by axial stiffness of connecting rods,and the influences of high-frequency components were filtered out from the model level by employing model denoising method,so that the conventional explicit algorithm might be used to calculate the solution of equation of equivalent multi-link system efficiently.The proposed algorithm may specify the velocity law of tip or base of snake-arms,and realize the motion planning of SAR along tip-trajectory.Due to the strictly limited joint points of SAR moving on feasible trajectory curve,obstacle avoidance motion planning may be achieved in narrow and deep cavity environments.After solving typical numerical examples in planar and spatial cases,the results show that the proposed algorithm has sufficient computational accuracy and efficiency for the motion planning of SARs.

关 键 词：蛇形臂机器人 运动规划 末端轨迹跟随 模型降噪 刚柔耦合 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]