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针对轮船螺旋桨清洗时因空间结构曲面复杂而难清理的问题,设计一种搭载于水下吸附式机器人载体上的射流超灵巧机械臂(hyper-dexterous manipulator,HDM)清洗装置.结合无骨架类生物肌肉高自由度特点构建超灵巧机械臂结构,采用虎克铰接的连接方式替换相邻关节连接处的柔性构件,兼顾了高压水射流承载压力高的特点.运用几何分析法对单端机械臂进行正逆运动学建模,基于多关节连杆变换通式推导出基于等圆弧假设下的机械臂模型,进而得出其多关节驱动空间与操作空间的映射关系.仿真实验和物理实验对比结果表明,所设计的机械臂能够达到期望的操作空间位姿,并能在加载实验下保证一定的鲁棒性.
Aiming at the problem that the surface structure of propeller is difficult to clean due to its complex structure and curved surface, a hyper-dexterous manipulator (HDM) cleaning device is designed to be mounted on a submerged robot. High degree of freedom of muscle characteristics Construction of hyper-smart manipulator structure, the use of Hooke articulated connection to replace the adjacent joints of the flexible components, taking into account the characteristics of high pressure water jet carrying pressure high.Using geometric analysis of single-ended manipulator Based on the general joint transformation of multi-joint linkages, the robot arm model based on isosceles arc is deduced, and then the mapping relation between multi-joint driving space and operating space is derived. The comparison between simulation experiment and physical experiment It shows that the designed manipulator can reach the desired working position and pose certain robustness under loading experiment.