面向电厂管道的攀爬机器人运动规划与仿真

Motion planning and simulation of climbing robot for power plant pipeline

针对电厂管道检测作业,围绕多屏平行管道环境中直管、管间和管屏间的攀爬作业需求,设计一种5自由度攀爬机器人,并进行运动规划分析。首先,分析运动需求,确定攀爬机器人的构型;其次,针对直管攀爬、管间过渡和管屏过渡的攀爬运动进行规划,提出3种步态;之后,采用基于D-H法建立的机器人运动学模型,采用逆运动学求解对应位姿点的关节角度;再通过5次多项式插值得到角度-时间序列;最后,采用ADAMS虚拟样机技术进行仿真,分析攀爬过程中的能耗及各关节的受力情况。研究结果表明:所规划的步态能够满足运动需求;直管攀爬中随着步距由50 mm增大至150 mm,机器人最大转矩增加17.76%,总能耗降低39.94%,在保证关节转矩足够的情况下可通过增大步距以降低能耗;各工况中,管间过渡的旋转关节与管屏过渡的夹持手爪所需力矩最大,在步态优化与样机设计时需重点校核。

To meet the kinematic demands of climbing task along a straight pipe,between pipes or between calandria pipelines in a multipanel paralleled pipelines environment,a 5-DOF climbing robot was analyzed and developed for power plant detection.Firstly,based on the motion demand analysis,the climbing robot structure configuration was designed.Secondly,climbing motions along a straight pipe between pipes and between calandria pipelines were planned,and three kinds of gaits were proposed.Afterwards,the kinematical model was established by using the Denavit?Hartenberg method and inverse kinematics was used to solve the corresponding position joint angle.Then angle-time series were obtained by quintic polynomial interpolation method.Finally,energy consumption and the torque of joints during the climbing process were analyzed by virtual prototyping simulation based on ADAMS.The results show that the planned gait can meet the needs of movement.With the increase of step distance from 50 mm to 150 mm in the straight pipe climbing,the maximum torque of the robot increases by 17.76%and the total energy consumption reduces by 39.94%,energy can be saved by increasing step in case of sufficient torque.In each condition,the load of rotating joints in climbing between pipes and clamping claw in the climbing between pipe screen are the maximun,and they should be checked in gait optimization and prototype design.