煤矿智能巡检机器人稳定平台的工作空间分析及平滑轨迹规划研究

Study on Workspace Analysis and Smooth Trajectory Planning of Stabilization Platform on Coal Mine Intelligent Inspection Robot

针对传统稳定平台难于实现煤矿智能巡检机器人承载巡检仪器受井下崎岖路面产生六自由度的复合干扰问题,设计了一种4-SPU并联机构作为稳定平台装置。采用矢量法构建运动学逆解模型,通过三维边界迭代搜索法求解可达工作空间,分析可得工作空间连续无空洞现象。采用7次B样条插值方法构造平滑轨迹,以稳定平台冲击度最优建立目标函数,通过序列二次规划方法进行优化。仿真结果表明,智能巡检机器人稳定平台跟踪轨迹的速度、加速度和加加速度平滑连续且满足运动约束条件。该研究为后续智能巡检机器人的动力学分析和控制研究提供了理论依据。

Aiming at the problem that the traditional stable platform is difficult to realize the compound interference of six degrees of freedom caused by the underground rough road, a 4-SPU parallel mechanism was designed as the stable platform device.The inverse kinematics model was constructed by vector method, and the reachable workspace was solved by 3 D boundary iterative search method.Seventh-order B-spline interpolation method was used to construct the smooth trajectory, the objective function was established to optimize the impact degree of the stable platform, and the optimization was carried out by sequential quadratic programming method.The simulation results show that the tracking speed, acceleration and jeck of the stable platform of the intelligent inspection robot are smooth and continuous, and meet the motion constraints. This study provides a theoretical basis for the subsequent dynamics analysis and control research of the intelligent inspection robot.