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船用蛇形机器人的蜿蜒运动偏移机理及矫正

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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。
Mechanism and correction of the wandering movement offset of ship snake-like robot
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 ves-sels,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 dynamicper-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.

snake-like robotwandering movementoffset mechanismoffset correctionSerpenoid control curve

杨东冉、张彬、郑庆功、李晓峰、王博乔、夏远辰

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大连海事大学轮机工程学院,辽宁大连 116026

蛇形机器人 蜿蜒运动 偏移机理 偏移矫正 Ser-penoid控制曲线

国家重点研发计划项目辽宁省自然科学基金资助项目国家自然科学基金资助项目中央高校基本科研业务费专项资金资助项目中央高校基本科研业务费专项资金资助项目

2022YFB43014002020JH/103001075130602631320190383132019339

2024

10.16411/j.cnki.issn1006-7736.2024.02.007

大连海事大学学报
大连海事大学

大连海事大学学报

CSTPCD北大核心
影响因子：0.469
ISSN：1006-7736
年,卷(期)：2024.50(2)