飞机油箱检查机器人的仿生结构及运动学研究

针对民航飞机油箱等内部结构复杂且充满危险气体的环境需要进行三维检查的问题,研究设计了基于仿生学的机器人结构.该机器人具有多个柔性的连续型关节,采用线驱动方式控制关节的弯曲及旋转.对具有柔性特征的连续型单关节采用投影曲率法和虚坐标变换法建立了驱动绳长变化量、关节角变量和关节末端位姿三者之间的映射关系.在分析单关节运动学基础上推导出了多关节之间解耦运动学方程.对机器人进行了三维建模,采用仿真实验验证了在油箱内的空间可达性.通过实验样机实验,进一步验证了机器人的空间运动能力和所提出的运动学方法的正确性.

Study of Bionic Structure and Kinematics of Robot for Aircraft Fuel Tank Inspection

The mechanical structure of a robot is designed based on bionics to meet the inspection requirements of aircraft fuel tank with high space constraints and explosive air. The robot consists of multiple flexible continuous sections whose bending and rotating are controlled with a cable-driven mode. For the continuous single section of flexible features, the methods of projection curvature and virtual coordinates are used to establish the mapping relationships among the cable length, single section angle and end-effector orientation. The decoupled kinematics between the multi-sections is developed based on the analysis of single-joint kinematics. Then the reachability of the robot is verified through a three-dimensional simulation experiment. Finally, the athletic ability of the robot and the validity of the proposed kinematic method are verified through prototype experiments.