线驱动多关节巡检机械臂运动轨迹

Trajectory Simulation and Analysis of Unstructured Space Line-driven Inspection Robot for Filling Roof-uncontacted

为提升充填开采工作面充填不接顶间隙的巡检灵活性和检测可达性,加强充填效果检测质量,降低接顶率检测强度,提出了一种基于线驱动的多关节巡检机械臂原理样机,建立了球铰连接的关节模型,由线驱动巡检机械臂的整体架构,构建了线驱动巡检机械臂运动学模型,对机械臂的驱动空间、关节空间及操作空间三者间的映射关系进行了仿真分析,针对多关节间的耦合影响进行了解耦分析,构建了多关节间的解耦运动学方程,对线驱动巡检机械臂关节转动角度、末端位置与驱动线长度变化关系进行解算,验证了所构建运动学方程的正确性及线驱动巡检机械臂末端位姿的准确程度。开展机械臂原理样机平面弯曲运动、圆环避障运动及原理样机狭窄复杂非结构化空间避障实验,验证了线驱动巡检机械臂在充填不接顶非结构化复杂空间的运动灵活性及作业的可行性。

To improve the inspection flexibility and accessibility,enhance the detection quality and reduce the detection intensity,a prototype of multi-joint inspection robot based on the line-drive method is presented and a spherical joint model is established.A kinematic model of the line-driven inspection robot is established,and the mapping relation among the drive space,joint space and operation space of the robot is simulated and analyzed.Based on the decoupling analysis,the decoupling kinematic equation among the multiple joints is established,and the relation among the joint rotation angle,the end position and the driving line length is solved.The accuracy of the kinematics equation and the precision of the end position of the line-driven inspection robot are verified.The experimental studies on plane bending,circular avoidance and obstacle avoidance in narrow complex unstructured space of the mechanical robot prototype are carried out,and the flexibility and feasibility of the line-driven inspection robot in unstructured filling roof-uncontacted are verified.