| Nowadays,with the rapid development of robot industry,robots are more and more used in various fields instead of human.The common industrial robots are mostly rigid robots,which have large installation and working space and are mostly suitable for structured space.However,for the unstructured working environment such as nuclear equipment maintenance,toxic substance sampling,disaster rescue,pipeline monitoring,etc.,due to the environmental information is not fixed,unknown,difficult to describe,the structure and size change is irregular and unstable,the surface material performance is not equal,the conventional rigid robot is difficult to adapt to its environmental characteristics,so it needs the flexible mechanical arm robot to play a role.Gas insulated switch gear(GIS for short)occupies an important position in the power system.This topic is mainly aimed at the structural design and optimization innovation of flexible manipulator robot under the GIS maintenance environment.GIS gas insulated switchgear has many unknown factors because of the crisscross pipeline and narrow internal space.At present,the way of manual maintenance is often used,which is difficult to work and has potential safety hazards.Therefore,it is necessary to develop a flexible manipulator robot that meets the requirements of overall dimensions and load-carrying capacity to replace manual operation.In order to meet the requirements of working in horizontal and vertical cavities at the same time,to complete the task in the narrow unknown environment,the robot needs to have better flexibility and obstacle avoidance ability.Therefore,the structural design and motion control of the flexible robot are the key issues to solve its environmental adaptability and practicability.In this paper,by analyzing the structure design and motion control method of the existing flexible manipulator,a rope driven flexible manipulator with multiple redundant degrees of freedom is designed,which is mainly composed of three parts: drive device,motion device and push device.The drive device and motion device are designed separately,which greatly reduces the motion load.At the same time,a push device is added to optimize the overall structure Structure.In this paper,the structure optimization design and kinematics modeling of flexible manipulator robot are carried out by using solid works and vrep software The D-H parameter method is used to analyze the relationship between the position and attitude of the manipulator,and to evaluate the movement attitude and working space of the flexible manipulator in three-dimensional space.On this basis,through the inverse kinematics analysis of the manipulator,the space obstacle avoidance ability of the manipulator is further evaluated.Combined with the requirements of the application scenario,the rationality of the design of the flexible manipulator after the entity installation and the realization of the working requirements are analyzed from multiple angles Through vrep simulation,it is verified that the flexible manipulator designed in this paper has good bending characteristics and flexible obstacle avoidance ability in three-dimensional space,and the motion track is approximately smooth curve,which can meet the operation requirements of GIS cavity in this unstructured narrow working environment.Through the research work of this subject,the configuration design of the flexible arm robot with high redundancy in the narrow working space is completed,and the iterative optimization of the mechanism parameters is carried out according to the requirements of the scene,which improves the obstacle avoidance ability of the robot in the working space and basically meets the design requirements of the subject,providing reference for the further design and research and development of the flexible arm robot in the future It has certain reference value. |
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