一种木材检测机器人设计和运动学研究

Design and kinematics research of a wood inspection robot

针对农林业领域复杂的木材检测环境,提出了一种新型木材检测机器人,并对其机械机构方案和控制方案进行了设计。该机器人通过提升机构的伸缩运动实现对木材的竖直攀爬运动;通过夹紧机构中推杆的伸缩实现对树干的夹持作用;同时开展了攀爬机构和旋转检测机构的运动学分析,最后进行了一系列实验验证,结果表明该木材检测机器人能实现向上攀爬、向下攀爬、连续攀爬和旋转检测功能,且木材检测图像清晰无阴影区域出现。

Based on the complex inspection environment of agriculture and forestry,a new wood inspection robot is created with design of its mechanical structure scheme and control scheme.The robot can achieve vertical climbing by lifting telescopic motion mechanism as well as the effect of the trunk clamp by the clamping mechanism.In the meanwhile,a kinematics analysis on climbing mechanism and rotation detection mechanism is conducted.Finally,through a series of experiments,the results show that the robot can climb up and down during detection of wood.It also can achieve continuously climbing and rotation detection function.Moreover,it will provide a clear image of the detection of wood without the shadow region.