船用蛇形机器人的蜿蜒运动偏移机理及矫正研究

杨东冉, 张彬, 郑庆功, 李晓峰, 王博乔, 夏远辰

doi:10.16411/j.cnki.issn1006-7736.2024.02.007

大连海事大学学报 >

2024 , Vol. 50 >Issue 2: 67 - 74

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.007

船用蛇形机器人的蜿蜒运动偏移机理及矫正研究

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（大连海事大学轮机工程学院，辽宁大连 116026）

杨东冉（1997—），男，硕士生，研究方向：船用蛇形消防机器人的研究。张彬*（1982—），男，博士，教授，博士生导师，研究方向：船舶危险品储运的安全与保障。E-mail：zb_2010@dlmu.edu.cn

网络出版日期: 2023-11-28

基金资助

国家重点研发计划项目(2022YFB4301400)；辽宁省自然科学基金（2020JH/10300107）；国家自然科学基金（51306026）；中央高校基本科研业务费专项资金（3132019038,3132019339）

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Research on the mechanism and correction of the wandering movement offset of ship snake-like robot

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(College of Marine Engineering, Dalian Maritime University, Dalian 116026, China)

Online published: 2023-11-28

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摘要

针对船用消防蛇形机器人蜿蜒运动中产生的偏移使机器人无法在船舶复杂管系间隙内有效运动的问题，基于超冗余蛇形机器人的运动学模型，从运动学和力学的角度分析非线性偏移原因是关节间旋转过程中产生的扭转力矩所引起。通过实验得到摆动幅度A、相邻连杆之间的运动相位差β对机器人法向偏移的作用规律，证明了两参数只能对机器人的法向偏移程度产生影响，并不能有效消除偏移。基于Serpenoid控制曲线建立了一个简单、高效的自适应偏移矫正控制算法，开展Webots机器人仿真和样机试验，结果表明，消防蛇形机器人的平均最大径向偏移量减小42.8cm，降低75.2%，在未改变机器人运动形状的前提下，满足船舶狭窄环境的工作需求。

关键词： 蛇形机器人; 偏移机理; 偏移矫正; Serpenoid控制曲线; 运动控制

本文引用格式

杨东冉, 张彬, 郑庆功, 李晓峰, 王博乔, 夏远辰 . 船用蛇形机器人的蜿蜒运动偏移机理及矫正研究[J]. 大连海事大学学报, 2024 , 50(2) : 67 -74 . DOI: 10.16411/j.cnki.issn1006-7736.2024.02.007

Abstract

In response to the issue of deviation in the meandering motion of shipboard fire snake-like robots, which hinders their effective movement within the complex gaps of vessels, based on the kinematic model of the hyper-redundant snake-like robot, the nonlinear offset causes are analyzed from the kinematic and dynamic perspectives, which are caused by the torsional torque generated during the rotation process between the joints. The experimental results show the influence rules of the swing amplitude A and the phase difference β between the adjacent links on the normal offset of the robot, proving that the two parameters can only affect the degree of the normal offset of the robot, and cannot effectively eliminate the offset. Based on the Serpenoid control curve, a simple and efficient adaptive offset correction control algorithm is established, and Webots robot simulation and prototype experiments are carried out. The results show that the average maximum radial offset of the fire-fighting snake-like robot is reduced by 42.8cm, decreasing by 75.2%, meeting the work requirements of the narrow environment of the ship without changing the shape of the robot motion.

Key words： snake-like robot; migration mechanism; offset correction; Serpenoid control curve; motion control

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