连续型狭窄空间辅助检测机器人设计及运动学分析  

Design and Kinematic Analysis of Continuum Narrow Space Assisting Detection Robot

作　　者：唐术锋[1,2] 袁炜 王鑫 常宏[1,2] 郭晓栋 火伟伟 TANG Shufeng;YUAN Wei;WANG Xin;CHANG Hong;GUO Xiaodong;HUO Weiwei(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot Inner Mongolia 010051,China;Inner Mongolia Key Laboratory of Robotics and Intelligent Equipment Technology,Hohhot Inner Mongolia 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,内蒙古呼和浩特010051 [2]内蒙古自治区机器人与智能装备技术重点实验室,内蒙古呼和浩特010051

出　　处：《机床与液压》2025年第5期24-30,共7页Machine Tool & Hydraulics

基　　金：内蒙古自治区军民融合重点科研项目(JMZD202203);国家自然科学基金项目(61763036,52465003);内蒙古自治区自然科学基金(2021MS05005);内蒙古自治区关键技术攻关计划(2021GG0258);内蒙古自治区直属高校基本科研业务费项目(JY20220046);国家重点研发计划(2018YFB1307501);内蒙古自治区高等学校创新团队发展计划(NMGIRT2213);“英才兴蒙”工程团队(2025TEL02)。

摘　　要：针对航空发动机传统的检测方法需要人工拆解的问题,设计一种无需将航空发动机拆解便可实现检测功能的连续体狭窄空间辅助检测机器人。该机器人由驱动单元和检测通道搭建单元两部分构成。为了躲避狭窄空间内的障碍物,设计一种由球铰链连接的连续体关节,连续体关节由顶端关节和后3段相同结构的关节串连而成,共有2个自由度。基于几何分析的方法,建立机器人的运动学模型,研究驱动空间、关节空间的映射关系,通过齐次变换的方法得到关节空间和操作空间的映射关系。运用蒙特卡洛算法得到机器人的可达工作空间并绘制了机器人末端位置变化曲线和驱动线长度变化曲线。最后研制机器人原理样机,通过实验测试机器人的弯曲性能和通过性能。实验结果表明:机器人能够在0°~110°进行不同程度的弯曲运动,能够在复杂狭窄的环境下躲避障碍物成功到达目标位置。A novel narrow-space inspection robot was constructed to address the limitations of traditional aircraft engine inspection methods,eliminating the need for manual disassembly.Comprising a driving unit and a detection channel unit,the robot was featured a continuum joint connected by a ball-hinge to maneuver through obstacles effectively.Based on geometric analysis,the kinematics model of the robot was established,the mapping relationship between the drive space and the joint space was studied,and the mapping relationship between the joint space and the operation space was obtained by means of homogeneous transformation.The robot′s reachable workspace was determined via Monte Carlo algorithm,with visualizations that demonstrated end-effector position variation and driving line length.A prototype was developed and subjected to experimental evaluation,demonstrating its ability to bend within a range from 0°to 110°and adeptly navigate through narrow environments while avoiding obstacles.

关 键 词：连续体机器人 狭窄空间 几何分析法 蒙特卡洛算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]