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液压破拆机器人是工业机器人中一种特殊的机器人,能在易燃、易爆等危险工况下完成拆除工作。破拆机器人的机械臂一般由操作者在现场手工遥控。由于机械臂连杆质量大,在运动中产生的惯性大,操作者反复调整后才能到达目标位置,工作效率低且存在一定安全隐患。通过对破拆机器人机械臂进行运动学分析、轨迹规划设计,实现了指定作业目标下机械臂自主运动功能。实验结果证明了控制方法的正确性且系统满足设计指标要求,有效缩短了定位操作的时间,提高了工作效率。为破拆机器人的智能化,自动化提供一种新的工程设计与实现方法。
Hydraulic robotic robots are special robots in industrial robots that can be dismantled in flammable, explosive and other hazardous conditions. The robotic arm of a tamper-resistant robot is usually remotely controlled by the operator at the site. Due to the large mass of the connecting rod of the robot arm, the inertia generated in the movement is large, and the operator can repeatedly reach the target position after being adjusted. The working efficiency is low and there is a potential safety hazard. Through the kinematics analysis and trajectory planning and design of the robotic arm, the autonomic motional function of the arm under the designated work target is achieved. The experimental results show that the control method is correct and the system meets the design requirements, which can shorten the time of positioning operation and improve the work efficiency. A new engineering design and implementation method is provided for the intelligence and automation of the robot.