蛇形机器人由于其狭长的机械臂和超冗余自由度,在复杂极端环境中具有优越的灵活性.本文在欠驱动蛇形臂机器人的结构基础上,提出了基于等效杆长和等效虚拟关节的两种轨迹跟踪算法,实现蛇形臂机器人对目标曲线的跟踪,满足蛇形臂机器人的运动控制需求.最后,设计了臂长1 075 mm 包含7关节单元的蛇形机器人样机,并进行了轨迹跟踪实验,结果表明蛇形机器人可轻松穿过直径90 mm以上的狭小管道.运动过程平稳、无振动,验证了轨迹控制算法的正确性和结构设计的合理性.
Abstract
The snake-like robot has superior flexibility in complex and extreme environments due to its long and narrow robotic arm and redundant degrees of freedom.Based on the structure of the underactuated snake-arm robot,two trajectory tracking algorithms based on equivalent rod length and equivalent virtual joint are proposed to realize the tracking of the target curve by the snake-arm robot and meet the motion control requirements of the snake-arm robot.Finally,a snake-like robot prototype with an arm length of 1 075 mm and seven joint units is designed and the trajectory tracking experiment is carried out.The results show that the snake-like robot can easily pass through a narrow pipe with a diameter of more than 90 mm.The smooth and vibration-free motion process verifies the correctness of the trajectory control algorithm and the rationality of the structural design.
维普
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