摘要
提出了一种基于机器人的危险品处置方案。面向各种有毒害、易爆炸的危险品,分别设计了移动平台、机械臂、末端手爪3部分,构建了一款能够适应不同复杂地形、拥有较大工作空间和抓取性能的危险品处置机器人;采用标准D-H模型对机械臂进行运动学分析,搭建机械臂虚拟样机,并以此为基础求解机械臂最大工作空间;采用三点坐标法规划机械臂运动轨迹并进行了仿真实验,实验结果表明机械臂能够按照规划的轨迹平稳完成对危险品的抓取作业。组装机器人实物样机,并将其放置在实地环境下进行实验。结果表明:危险品处置机器人可对放置在长、宽、高分别是500 mm×500 mm×1200 mm的长方体台座上的直径70 mm、高度250 mm的圆柱体状危险品进行抓取、放置、运输和处理。机器人具有良好的危险品处置性能,为机器人处理危险品提供了可行性方案。
A robot based hazardous material disposal scheme is proposed to address the high risk of manual disposal of hazardous materials.Aiming at various toxic and explosive hazardous materials,three parts were designed:a mobile platform,a robotic arm,and an end effector gripper,in order to construct a hazardous material disposal robot that can adapt to different complex terrains,has a large workspace,and gripping performance;Using the standard D-H model for kinematic analysis of the robotic arm,building a virtual prototype of the robotic arm,and based on this,solving the maximum workspace of the robotic arm;Based on the three-point coordinate method,the motion trajectory of the robotic arm was planned and simulated.The experimental results showed that the robotic arm can smoothly and smoothly complete the grasping operation of dangerous goods according to the planned trajectory.Assemble the physical prototype of the robot and place it in a field environment for experiments on grasping,placing,transporting,and handling hazardous materials.The results show that the hazardous material disposal robot can dispose of cylindrical hazardous materials with a diameter of 70 mm and a height of 250 mm placed on rectangular pedestals with a length,width,and height of 500 mm×500 mm×1200 mm,respectively.Robots have excellent performance in handling hazardous materials,providing feasible solutions for robot handling of hazardous materials.
作者
唐术锋
韩刚
王鑫
郭晓栋
常宏
TANG Shufeng;HAN Gang;WANG Xin;GUO Xiaodong;CHANG Hong(School of Mechanical Engineering,Inner Mongolia University of Technology,The Key Laboratory of Special Service Intelligent Robot in Inner Mongolia Autonomous Region,Hohhot 010051,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2024年第S01期231-236,共6页
Journal of Ordnance Equipment Engineering
基金
国家重点研发计划专项(2018YFB1307501)
内蒙古自治区军民融合重点科研项目(JMZD202203)
内蒙古自治区自然科学基金项目(2021MS05005)
内蒙古自治区关键技术攻关计划项目(2021GG0258)
内蒙古自治区高等学校创新团队发展计划支持项目(NMGIRT2213)。
关键词
危险品处置
虚拟样机
运动学分析
轨迹规划
实物样机
dangerous goods disposal
virtual prototype
kinematic analysis
trajectory planning
physical prototype
