排爆机器人主从手力觉临场感仿真研究

Simulation Research of Force Telepresence for Master-slave Hand for Explosive Ordnance Disposal

针对排爆机器人手臂抓取爆炸物无力反馈操作人员临场感差,易发生误操作触发爆炸物等问题,设计一种排爆机器人主从机械手系统。该系统由两组相同结构的机械手臂组成,每个机械手上安装力传感器分别检测人员与爆炸物对主从手产生的作用力。对主从手机构建立动力学模型与控制模型,根据所建立的模型利用二种不同质量的爆炸物进行抓取以验证其机构动态性能。仿真结果表明:机械手抓取小质量爆炸物时主从手之间力跟随与延时特性都有较好映射;在抓取大质量爆炸物时从手力的映射出现振荡并产生延时。

Aiming at the existing problem of non-force feedback, low telepresence and mis-operation in explosive ordnance disposal easily causes explosion, a master-slave hand system for explosive ordnance disposal is designed. The system consists of two isomorphism manipulator, and the force sensor in each manipulator is installed to detect the personnel and explosive ordnance generated force for master-slave hand. The dynamic model and control model of master-slave hand are established and dynamic response of structure by two kinds of explosive and model in grab is tested. The experimental results show that the characteristic of force and delay have better mapping between the master and slave hands when manipulator disposes low-mass explosive, and the mapping of force of slave hand generates oscillation and delay, when manipulator disposes massive explosive.