摘要
从海洋油气平台智能巡检机器人的任务需求出发,设计了一种多功能的4+2自由度云台臂;建立了云台臂的虚拟样机模型,基于D H法建立了连杆坐标系,推导得到机械臂的运动学方程。在此基础上,应用Matlab、ADAMS软件,对机器人云台臂进行了运动学和动力学仿真分析,分析了各关节的动力学特性,验证了云台臂结构设计的合理性。仿真结果表明,机器人云台臂的关节可靠性高、避障能力好、移动平稳,可为后续机器人物理样机研究和功能结构优化提供一定的参考。
Considering the formidable task for the intelligent inspection robot in offshore oil and gas platforms,a kind of multifunctional manipulator with 4+2 DOF is designed and a virtual manipulator model is established in this paper.Based on the D H method,the link coordinate system of the robot is established,and the kinematic equations of the manipulator are derived.Matlab and ADAMS are used to conduct the kinematics and dynamics simulation analysis of the manipulator.The dynamic characteristics of each joint of the manipulator are analyzed,and the rationality of the structural design of the manipulator is verified.The simulation results show that the joint has a high reliability,good obstacle avoidance ability,and stable movement,which provides a certain reference for the follow-up robot physical prototype research and functional structure optimization.
作者
张林
张权
易涤非
罗超
ZHANG Lin;ZHANG Quan;YI Difei;LUO Chao(Safety and Health Technology Co.,Ltd.,China National Offshore Oil Corporation(Guangdong)Zhanjiang 524057,Guangdong,China;Zhanjiang Branch,Safety and Technology Services Co.,Ltd.,China National Offshore Oil Corporation,Zhanjiang 524057,Guangdong,China;Offshore Oil Engineering Co.,Ltd.,Tianjin 300461,China)
出处
《海洋工程装备与技术》
2022年第4期34-40,共7页
Ocean Engineering Equipment and Technology
关键词
海洋油气平台
智能巡检
机器人
云台臂
仿真
offshore oil and gas platform
intelligent detection
robot
manipulator
simulation
