船用蛇形机器人的蜿蜒运动偏移机理及矫正

Mechanism and correction of the wandering movement offset of ship snake⁃like robot

针对船用消防蛇形机器人蜿蜒运动中产生的偏移使机器人无法在船舶复杂管系间隙间有效运动的问题,基于超冗余蛇形机器人的运动学模型,从运动学和力学角度分析非线性偏移的原因由关节间旋转过程中产生的扭转力矩引起。通过实验获得摆动幅度、相邻连杆之间运动相位差对机器人法向偏移的作用规律,证明了该两个参数只能对机器人的法向偏移程度产生影响,并不能有效消除偏移。基于Serpenoid控制曲线建立一个简单、高效的自适应偏移矫正控制算法,并开展Webots机器人仿真和样机试验。结果表明,消防蛇形机器人的平均最大径向偏移量减小42.8 cm,降低了75.2%,在未改变机器人运动形状前提下,可满足船舶狭窄环境的工作需求。

In response to the issue of deviation in wandering movement of shipboard fire⁃fighting snake⁃like robots,which hindered their effective motion within the complex gaps of vessels,based on the kinematic model of the hyper⁃redundant snake⁃like robot,the nonlinear offsets were shown to be caused by the torsional torque generated during the rotation process between the joints,from kinematic and dynamic per⁃spectives.The influence rules of the swing amplitude and the phase difference between adjacent links on the normal offset were revealed by experiments,thereby proving that those two parameters can only affect the degree of the normal offset,but cannot effectively eliminate the offset.Based on the Serpenoid control curve,a simple and efficient adaptive offset correction control algorithm was established,and Webots robot simula⁃tion and prototype experiments were carried out.The results show that the average maximum radial offset of the fire⁃fighting snake⁃like robot is reduced by 42.8 cm,decreasing by 75.2%,thereby meeting onboard requirements of narrow envi⁃ronment without changing the shape of robot motion.