郑州大学学报（工学版）2026，Vol.47Issue(5)：17-25,9.DOI:10.13705/j.issn.1671-6833.2026.02.010
主-被动混合控制的火电厂翻车机摘钩机器人系统设计
Design of a Hybrid Active-Passive Control Robotic System for Coupler Unhooking in Thermal Power Plant Wagon Tippers
摘要
Abstract
To address the issues of harsh environmental conditions,high labor intensity,and safety risks in manual hook removal operations in thermal power plant tipper unloading systems,in this study a tipping machine hook re-moval robot with a hybrid active-passive control configuration was proposed.Firstly,the mechanical structure of the robot was designed,with three active moving joints,one active rotating joint,one passive moving joint,and one passive rotating joint.The movement adaptability of the passive structure was analyzed using a graphical method,and the forward and inverse kinematic models of the entire system were established using the D-H method,provi-ding a theoretical foundation for motion control.In terms of the control system,a hardware architecture was de-signed,and a hook handle recognition algorithm was proposed,based on measurement data from a linear laser dis-placement sensor.This algorithm was used to obtain the position information Pg(xg,zg)between the end effector and the hook handle,enabling precise positioning and gripping of the hook handle.A pilot test was conducted to verify the effectiveness of the proposed solution.The results showed that out of 50 hook removal operations,the robot a-chieved a 100%success rate,with all joint torques within the rated limits.The average time for high-position hook removal was 25 seconds,and 30 seconds for low-position hooks,both meeting the production requirements.The maximum instantaneous torque at each joint was 62.1 N·m,only 43.7%of the system's limit,demonstrating suffi-cient safety margin.The experimental results reflected the robot's adaptive ability to handle trajectory uncertainties of hooks,allowing it to accommodate deviations in the path of different models or variations of the same model.Fur-thermore,the precision of the proposed recognition algorithm was validated.关键词
摘钩机器人/主被动构型/D-H法/线激光Key words
hook-unloading robot/active-passive hybrid configuration/D-H method/line laser分类
信息技术与安全科学引用本文复制引用
邱益,郭柳冰,梁杰..主-被动混合控制的火电厂翻车机摘钩机器人系统设计[J].郑州大学学报（工学版）,2026,47(5):17-25,9.基金项目
国家重点研发计划(2023YFB3306600) （2023YFB3306600）
