折叠双臂式机器人的运动学与工作空间分析

Kinematics and Workspace Analysis of Robot with Two Folding Arms

针对薄煤层勘探与灾后搜救机器人的需求,结合其特殊的工作环境,提出一种新型井下移动机器人;该机器人两侧装载了七自由度冗余机械臂,兼具狭小空间通过能力强与工作范围大两个特点。使用SOLIDWORKS软件建立了机器人的整体三维模型;通过D-H(Denavit-Hartenberg)法,建立了机械臂的运动学模型;并求出了其运动学正解。采用二次计算法,求出了机械臂的运动学逆解;使用基于蒙特卡洛法的仿真方法,进行了机器人的工作空间分析,仿真结果表明,该折叠双臂式井下勘探搜救机器人在双臂折叠状态下体积较小,狭小空间通过能力强;在双臂伸展状态下具有相当大的整体工作范围与协调工作空间,拥有较强的大范围灵活操作的能力,可满足较为复杂的任务需求。

Responding to the demand and special work environment of pit robot applying to explore in the thin seam and search-and-rescue survivors after mine disasters,a novel scheme of underground mobile robot was proposed,which has 7-DOF redundant arms on both sides. This robot has a strong ability of moving in narrow space,meanwhile it has considerable operating range. The total structure of robot was built by means of the software of SOLIDWORKS and the kinematic model of robot arm was established through D-H（ Denavit-Hartenberg） method,which contributes to forward kinematics analysis. Then the inverse kinematics was discussed by using the Secondary Calculation method. The work space analysis of robot was done by using a simulation method based on Monte Carlo method,the results indicate that this novel explore-and-rescue pit robot with two 7-DOF folding arms is small in size and has a strong ability of moving in narrow space when the arms are folded. On the other hand,the robot with unfolded arms has considerable total operating range and coordinate work space,it is pretty capable at large-scale flexible operating and can meet rather complicated task requirement.