摘要
在完成内置输油管式自动加油机器人结构设计的基础上对其进行运动学建模和正运动学求解,并采用广义弹簧法对非球腕式的机器人进行逆运动学的数值法求解并进行仿真。在视觉引导方面,采用霍夫梯度法对加油口的特征进行识别,在确定始末位姿后对机器人进行轨迹规划并利用MATLAB进行仿真,最后建立机器人的动力学模型对机器人进行动力学的仿真。
In this paper,on the basis of completing the structural design of the built-in oil pipeline automatic refueling robot,its kinematics modeling and forward kinematics are solved,and the generalized spring method is innovatively used to solve the inverse kinematics numerical method of the non-spherical wrist robot and is verified by simulation;In terms of visual guidance,the Hough gradient method is used to identify the characteristics of the fuel filler;After determining the starting and ending poses,the robot is trajectory planning and simulated by MATLAB;Finally,the dynamic model of the robot is established to simulate the dynamics of the robot.
出处
《机电一体化》
2021年第6期3-10,共8页
Mechatronics
关键词
大型载具加油
内置输油管式机器人
广义弹簧法
霍夫梯度法
轨迹规划
refueling of large vehicles
built-in oil pipeline robot
generalized spring method
Hough gradient method
trajectory planning
