带柔索双臂巡检机器人运动学建模与仿真

Kinematical modeling and simulation of dual-arms inspection robot with flexible-cable

为研究带柔索双臂巡检机器人越障过程中手臂与箱体的运动规律,采用D-H参数法建立了机器人基本越障动作的连杆坐标系,推导出了机器人运动学方程;以机器人蠕动越障过程为例,结合相关约束条件分析计算了越障过程不同阶段具体的运动学方程.通计算机仿真分析,给出了双臂行走轮以及箱体的坐标变化曲线,仿真结果表明越障过程中机器人姿态变化稳定,各个驱动关节运动比较平稳,证明带柔索双臂巡检机器人的结构设计较为合理.

In order to research the movement characteristics of arms and box while the dual-arms inspection robot with flexible-cable is crossing the obstacle, the coordinate systems of robot links are established by the D-H parameters, and the kinematical equations of robot are deduced. Taking the peristaltic crossing obstacle progress of robot as an example, the specific kinematical equations of robot which is in the different stages of crossing obstacle progress are analyzed and calculated according to the relevant constraints. By the computer simulation, the coordinate curves of two wheels and box are given. The simulation results show that the pose of robot and the movements of joints are stable when the robot crosses the obstacles, which proves that the structure design of dual-arms inspection robot with flexible-cable is reasonable.