狭窄空间作业的蛇形机械臂优化设计与控制方法研究

The snake-like robot arm with the ability to operate in narrow spaces has a wide application prospect in many fields, such as nuclear power plant maintenance, aviation manufacturing, ship welding, electrical repair, etc. Aimed at improving the flexibility and accuracy of the motion trajectory in the narrow work space, in this project, the robot is studied to solve issues of the hybrid mechanism design, obstacle avoidance planning and trajectory motion control. The joint is designed with rotation and translation DOFs by combining the two kinds of mechanisms. By synthetic design and optimization, the overall mechanical scheme is proposed including the snake-like arm, the driving parts and the feeder platform. A motion planning method in joint space is addressed considering multiple constraints of the wire tension, obstacle avoidance and joint range limitation. With the method, the wire tension singularity issue can be resolved during the dynamic process. Based on the backlash compensation model, the trajectory tracking control method is studied to ensure high accuracy of the robot arm. With these works as basis, the robot prototype is integrated and performance testing is carried out to improve the design optimization. Through the research of this project, innovations in the design optimization and control method of multiple redundant robots will be achieved to form a reasonable snake-like arm system framework and provide a theoretical basis for the robot application in complex and narrow environments.

具备狭窄空间作业能力的蛇形臂机器人系统在航空制造、核电维护、船舶焊接、电气检修等领域有着广泛的应用前景。本项目以提高狭窄作业空间中机器人的运动灵活性和轨迹控制精度为出发点，主要解决复合运动机构、空间避障规划、运动轨迹控制等问题，研究具有旋转和伸缩复合运动方式的关节设计方法，通过运动机构、驱动系统、推进平台的综合设计与优化，形成机器人机构整体解决方案；研究带有钢丝张力、空间避障、关节限制等多约束条件的关节空间轨迹规划方法，解决冗余度机械臂动态过程的钢丝张力奇异问题和复杂环境的避障问题；研究基于钢丝背隙补偿的关节轨迹跟踪控制方法，解决钢丝牵引方式下蛇形臂末端位姿精确控制问题。在此基础上开展样机集成和性能实验研究，对机器人系统进行改进和完善。通过本项目的研究，在多冗余度机器人的设计优化与控制方法上得到创新成果，形成合理的新型蛇形臂系统设计框架，为复杂狭窄环境中的机器人作业提供理论基础。

本项目针对核电维护、航空制造、船舶焊接、电气检修等领域有着广泛的狭小作业场景，开展具备狭窄空间作业能力的蛇形臂机器人技术研究。本项目以提高狭窄作业空间中机器人的运动灵活性和运动轨迹精度为出发点，主要解决复合运动机构、空间避障规划、运动轨迹控制等问题，研究具有旋转和伸缩相结合的运动方式的关节设计方法，通过运动机构、驱动系统、推进平台的综合设计与优化，形成机器人机构整体解决方案；研究带有钢丝张力、空间避障、关节限制等多约束条件的关节空间轨迹规划方法，解决冗余度机械臂动态过程的钢丝张力奇异问题和复杂环境的避障问题。在此基础上开展样机集成和性能测试研究，对机器人系统进行改进和完善。通过本项目的研究，在多冗余度机器人的设计优化与控制方法上得到了创新成果，形成了新型蛇形臂系统设计框架，为复杂狭窄环境中的机器人作业提供了理论基础。

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