Ultra-smart manipulator design for propeller-cleaning robots
-
摘要: 針對輪船螺旋槳清洗時因空間結構曲面復雜而難清理的問題,設計一種搭載于水下吸附式機器人載體上的射流超靈巧機械臂(hyper-dexterous manipulator,HDM)清洗裝置.結合無骨架類生物肌肉高自由度特點構建超靈巧機械臂結構,采用虎克鉸接的連接方式替換相鄰關節連接處的柔性構件,兼顧了高壓水射流承載壓力高的特點.運用幾何分析法對單端機械臂進行正逆運動學建模,基于多關節連桿變換通式推導出基于等圓弧假設下的機械臂模型,進而得出其多關節驅動空間與操作空間的映射關系.仿真實驗和物理實驗對比結果表明,所設計的機械臂能夠達到期望的操作空間位姿,并能在加載實驗下保證一定的魯棒性.Abstract: A hyper-dexterous manipulator (HDM) cleaning device, mounted on an underwater adsorption robot, was designed to address the complications of cleaning the space structure surface on ship propellers. The HDM mechanical structure was constructed by exploiting the high degrees of freedom associated with skeleton-like biological muscle. Considering the characteristics of high-pressure water jet, Hooke's hinge was used to replace flexible components at joints. Kinematics and inverse kinematics modeling of the singleended manipulator was performed using the geometric analysis method wherein a manipulator model based on the assumption of equal arcs was obtained from a multi-joint connecting rod transformation. Then, a mapping relation between the multi-joint drive space and the operation space was derived. The comparison of simulated experiments to physical results reveals that the robot arm design achieves the desired operating position and robustness can be guaranteed during the loading experiment.
-
Key words:
- cleaning robots /
- hyper-dexterous manipulator /
- rigid-flexible coupling /
- bionics
-
參考文獻
[3] Benson P H, Brining D L, Perrin D W. Marine fouling and its prevention. Mar Technol Soc J, 1973, 10(1):30 [8] Cui L L, An L Q, Gong W L, et al. A novel process for preparation of ultra-clean micronized coal by high pressure water jet comminution technique. Fuel, 2007, 86(5-6):750 [9] Byrnes L E, Kramer M S, Van Kuiken Jr L L. High Pressure Water Jet Method of Blasting Low Density Metallic Surfaces:US Patent, 5380564.1995-1-10 [12] Pettit J R, Walker A, Lowe M J S. Improved detection of rough defects for ultrasonic NDE inspections based on finite element modeling of elastic wave scattering//AIP Conference Proceedings 1581. American Institute of Physics Conference Series, Denver, 2014:521 [13] Neppalli S, Jones B A. Design, sonstruction, and analysis of acontinuum robot//Proceeding of IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, 2007:1503 [14] Mazzolai B, Margheri L, Cianchett M, et al. Soft-robotic arm inspired by the octopus:Ⅱ. From artificial requirements to innovative technological solutions. Bioinspiration Biomimetics, 2012, 7(2):025005-1 [15] Walker I D, Dawson D M, Flash T, et al. Continuum robot arms inspired by cephalopods//Proceedings of SPIE 5804-Unmanned Ground Vehicle Technology VⅡ. Orlando, 2005 [17] Wolf A, Brown H B, Casciola R, et al. A mobile hyper redundant mechanism for search and rescue tasks//IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas, 2003:2889 [19] Simaan N. Snake-like units using flexible backbones and actuation redundancy for enhanced miniaturization//Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Barcelona, 2005:3012 -
點擊查看大圖
計量
- 文章訪問數: 734
- HTML全文瀏覽量: 259
- PDF下載量: 28
- 被引次數: 0
下載:
