一种新型电力光缆剪枝机器人的运动学联合仿真研究

针对架空电力光缆线路巡检维护中的树枝修剪问题,设计了一种新型五自由度串联剪枝机器人。首先,通过D-H(denavit-hartenbreg)参数法,建立了该剪枝机器人机械臂的运动学模型,得到运动学正逆解;然后在V-REP和MATLAB中进行联合运动仿真,并利用蒙特卡洛法分析剪枝机器人工作空间,得到机械臂工作空间的云图;为保证剪枝过程的运行平稳,在工作空间内进行轨迹规划并仿真;最后,联合仿真结果表明该剪枝机器人运动学模型有效,各关节及末端轨迹规划控制效果良好,可以实现1~1.5 m范围内灵活修剪树枝等障碍物的要求,为剪枝机器人后续控制问题研究提供了理论依据和实验基础。

Kinematics Co-simulation Research of a Novel Electric Optical Cable Pruning RobotLI-Chao1 YANG YongFeng2 DIAN SongYi1 HE Quanlin1

In this paper, a new kind of 5-DOF series pruning robot is developed to solve the problem of power cable line inspection maintenance issues. First, the kinematic model of the manipulator is established by D-H (Denavit-Hartenbreg) method, and its kinematic forward and inverse solution is obtained. Then, the kinematic Co-simulation will be excuted by MATLAB and V-REP, the Monte Carlo method is used to analyze the working space of the pruning robot, and the workspace of the manipulator is obtained; To ensure the pruning process runs smoothly, track planning simulation in the workspace is taken; Finally, the co-simulation results show that the kinematic model is valid, Each joint and end effector control effect is good, and the pruning robot can achieve 1 to 1.5 m flexible pruning branches and other obstacles, which provides theoretical and experimental basis for follow-up research of control problem of pruning robot.