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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。
In view of the problem that three-dimensional inspection is needed in the environment where civil aircraft fuel tank and other complicated internal structures are filled with dangerous gas, the robot structure based on bionics is studied and designed. The robot has a plurality of flexible continuous joints, the use of line-driven control of joint bending and rotation. The projection-curvature method and the imaginary coordinate transformation method are used to establish the mapping relationship between the length of the driving rope, the joint angle variable and the posture of the joint at the end of the continuous single-joint with flexible characteristics. Based on the analysis of single-joint kinematics, the decoupled kinematics equations of multiple joints are deduced. The three-dimensional modeling of the robot was carried out. The simulation experiment proved the space accessibility in the tank. Through the experimental prototype experiment, the robot’s space motion capability and the correctness of the proposed kinematics method are further verified.