冗余自由度超声检测机器人的逆运动学分析

Inverse Kinematics Analysis for Ultrasonic NDT Robot with Redundant DOFs

针对一类冗余自由度超声检测机器人的传统逆运动学求解算法耗时长且准确度低的问题,提出了一种基于集合划分和解析解法相结合的逆运动学求解算法。首先采用De-navit-Hartenberg方法建立检测机器人的运动学方程;其次,利用解析解法求出机器人逆解的解析表达式,并提出三种自由度分配方案;最后,选择合适的自由度分配方案,据此对超声波探头位姿集合作划分,结合逆解解析式求出运动学逆解。实际应用中,借助十一轴超声波检测机器人,利用该算法对具有复杂外形的飞机螺旋桨叶片进行检测。结果表明,与传统的纯数值解法相比,该算法能够快速得到精确的运动学逆解。

To obtain inverse kinematics solutions of a ultrasonic non-destructive test （NDT） robot with redundant degrees of freedoms （DOFs） , the traditional inverse kinematics analysis algorithms are time consuming and inaccurate. So, a new algorithm based on set partitioning combined with analytical solution was proposed. Firstly, the kinematics equation of ultrasonic NDT robot were established using Denavit- Hartenberg method. Secondly, the robot＇s inverse kinematics expressions were derived, and three kinds of freedom distribution schemes were brought forward. Finally, the inverse kinematics solutions were resolved, based on a reasonable freedom dis- tribution scheme and inverse kinematics expressions. A eleven axis ultrasonic NDT robot is controlled by this algorithm to detect propel- ler blades in practical application. The results show that this algorithm can quickly obtain the precise inverse kinematics solutions.