基于柔索驱动的锅炉检测机器人轨迹规划研究

Study on trajectory planning of cable-driven robot for boiler detection

设计并制作了一种2自由度的基于柔索驱动的电厂锅炉管道检测机器人,实现其点对点直线轨迹运动。首先设计搭建缩比实验台及其控制系统。建立该机器人的运动学模型并研究其位置、速度及加速度正反解规律。在此基础上,对其进行点对点直线轨迹规划研究,运用位置离散微分和梯形速度规划对两轴在各点的位置速度时间进行求解,构成机器人起始点到终止点的运动规律。设计若干段直线轨迹,仿真分析在轨迹跟踪过程中,驱动柔索长度和速度的变化规律。研究表明:本文机器人在点对点直线轨迹运动中,柔索长度连续变化,保证柔索机器人在整个作业过程中运行平稳、连续、定位精度等能满足电厂锅炉管道检测作业要求。

A two-degree-of-freedom(DOF)cable-driven based robot for detecting boiler pipes is designed and fabricated.Point-to-point straight line trajectory movement is achieved.Shrinkage testbed and its control system are designed and established.Dynamic model for the cable-driven robot is established,and foreard and inverse solution laws of position,velocity and acceleration are studied.A straight linear trajectory planning approach is developed,which is based on the position discrete differential and trapezoidal speed planning.Path planning trajectory is presented,then simulating and analyzing the laws of the length and velocity of the driving cable based on the point-to-point linear trajectory planning algorithm.The research shows that in point to point straight line trajectory movement,cable length change continuously,it assure that cable-driven robot can run smoothly,continuously,and positioning precision can meet requirement of detection.