航空学报 > 2013, Vol. 34 Issue (7): 1748-1756   doi: 10.7527/S1000-6893.2013.0289

飞机油箱检查机器人的仿生结构及运动学研究

高庆吉, 王维娟, 牛国臣, 王磊, 郑遵超   

  1. 中国民航大学 机器人研究所, 天津 300300
  • 收稿日期:2012-09-11 修回日期:2012-10-31 出版日期:2013-07-25 发布日期:2012-12-27
  • 通讯作者: 高庆吉 E-mail:qjgao@cauc.edu.cn
  • 作者简介:高庆吉,男,博士,教授,硕士生导师。主要研究方向:机器人导航控制,机器视觉。Tel:022-24092609,E-mail:qjgao@cauc.edu.cn;王维娟,女,硕士研究生。主要研究方向:机器人结构设计及运动控制。,E-mail:wwjdb123@163.com
  • 基金资助:

    中央高校基本科研业务费专项资金(ZXH2011D008)

Study of Bionic Structure and Kinematics of Robot for Aircraft Fuel Tank Inspection

GAO Qingji, WANG Weijuan, NIU Guochen, WANG Lei, ZHENG Zunchao   

  1. Robotics Institute, Civil Aviation University of China, Tianjin 300300, China
  • Received:2012-09-11 Revised:2012-10-31 Online:2013-07-25 Published:2012-12-27
  • Supported by:

    The Fundamental Research Funds for the Central Universities (ZXH2011D008)

摘要:

针对民航飞机油箱等内部结构复杂且充满危险气体的环境需要进行三维检查的问题,研究设计了基于仿生学的机器人结构。该机器人具有多个柔性的连续型关节,采用线驱动方式控制关节的弯曲及旋转。对具有柔性特征的连续型单关节采用投影曲率法和虚坐标变换法建立了驱动绳长变化量、关节角变量和关节末端位姿三者之间的映射关系。在分析单关节运动学基础上推导出了多关节之间解耦运动学方程。对机器人进行了三维建模,采用仿真实验验证了在油箱内的空间可达性。通过实验样机实验,进一步验证了机器人的空间运动能力和所提出的运动学方法的正确性。

关键词: 飞机油箱, 仿生结构, 连续型, 线驱动, 运动学

Abstract:

The mechanical structure of a robot is designed based on bionics to meet the inspection requirements of aircraft fuel tank with high space constraints and explosive air. The robot consists of multiple flexible continuous sections whose bending and rotating are controlled with a cable-driven mode. For the continuous single section of flexible features, the methods of projection curvature and virtual coordinates are used to establish the mapping relationships among the cable length, single section angle and end-effector orientation. The decoupled kinematics between the multi-sections is developed based on the analysis of single-joint kinematics. Then the reachability of the robot is verified through a three-dimensional simulation experiment. Finally, the athletic ability of the robot and the validity of the proposed kinematic method are verified through prototype experiments.

Key words: aircraft fuel tanks, bionic structure, continuum, cable-drive, kinematics

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