机械与电子2024，Vol.42Issue(8)：50-56,7.
基于改进D-H的隧道摄像头清洗机器人运动学分析
Kinematic Analysis of Tunnel Camera Cleaning Robot Based on Modified D-H
摘要
Abstract
In order to realize the intelligent mechanized and efficient cleaning of cameras,a 5 Degree Of Freedom(5DOF)camera cleaning robot was designed.The ambiguity problem was solved by adding tran-sition joints between J2 and J3 joints,and the kinematic model parameters of the robot were obtained by the modified D-H(Denavit-Hartenberg)method,and then the forward and inverse kinematics of the ro-bot were solved by the flush transformation method and the closed solution method.The robot arm frame model was established in the Robotics Toolbox to conduct simulation experiments.The robot workspace was analyzed by Monte Carlo method,and the motion trajectory was constructed by the quintuple polyno-mial interpolation method.The results show that the working space of the cleaning robot meets the re-quirements of the tunnel camera cleaning operation,and the planned joint motion trajectory meets the kine-matic constraints and ensures the smoothness of the robot motion,which lays the foundation for the mo-tion control of the tunnel camera cleaning robot.关键词
隧道摄像头/串联式机器人/运动学建模/工作空间/轨迹规划Key words
tunnel camera/tandem robot/kinematic modeling/workspace/trajectory planning分类
信息技术与安全科学引用本文复制引用
何涛,王超,杨雨升..基于改进D-H的隧道摄像头清洗机器人运动学分析[J].机械与电子,2024,42(8):50-56,7.基金项目
陕西省交通运输科技计划项目(20-30X) （20-30X）
陕西省自然科学基础研究计划项目(2022JM-249) （2022JM-249）
广西省交通运输行业重点科技项目(19-09) （19-09）
