机械制造与自动化2024，Vol.53Issue(4)：201-207,7.DOI:10.19344/j.cnki.issn1671-5276.2024.04.039
蛇形管道机器人设计与轨迹跟踪算法实现
Design of Snake Robot in Pipeline and Implementation of Trajectory Tracking Algorithm
摘要
Abstract
Snake robot,imitating the body structure and motion mechanism of snake,small in size and multiple with degrees of freedom,displays excellent motion performance in complex environment.A snake robot suitable for narrow pipe environment was proposed.With modular configuration,the proposed robot had 5 degrees of freedom,and kinematics analysis was conducted by Denavit-Hartenberg method.Based on the forward trajectory tracking control algorithm from the tail to the head of the robot,the trajectory tracking motion control method of the robot was established.The experimental prototype was designed and the experiments on motion control and actual pipe turning were carried out,which verified the rationality of the robot structure design,the correctness of the inverse kinematics and the effectiveness of the motion control method.关键词
蛇形机器人/轨迹跟踪/运动学/管道环境应用Key words
snake robot/trajectory tracking/kinematics/pipeline application分类
信息技术与安全科学引用本文复制引用
于阳光,吉爱红,邱镓辉,刘亚红,秦国栋..蛇形管道机器人设计与轨迹跟踪算法实现[J].机械制造与自动化,2024,53(4):201-207,7.基金项目
国家重点研发计划项目(2019YFB1309604) （2019YFB1309604）
国家自然科学基金资助项目(51861135306,51875281) （51861135306,51875281）
