Principle Design And Kinematics Analysis Of Hyper-redundant Robot

More and more attention has been paid to the green intelligent production and construction technology of ships,but because of the complexity of the internal structure of the ship,the spraying work is mainly completed manually at present.Therefore,there is an urgent need for a kind of equipment with strong flexibility and obstacle avoidance ability,which can operate in a narrow and barrier environment.Hyper-redundant robot has excellent flexibility and has the potential of engineering application in space operation in ship.In this paper,a hyper-redundant robot is taken as the research object,its principle design and trajectory control strategy are studied,and the computer simulation verification is carried out.And the following research results are obtained:Based on the analysis of operational requirements and performance requirements,the overall design scheme of the modular robot with universal joint unit and linear actuator is established,and the simplified linear actuator thrust calculation algorithm is derived.The robot is divided into two parts: the basic arm and the working arm,and the trajectory control strategy is designed.On this basis,the forward,inverse and velocity analytical solution models of the mechanism are established,in which the mapping relationship between the driving space and the joint space is derived by a plane mechanism geometry method,the mapping relation from the joint space to the operating space is established by the D-H(Denavit-Hartenberg)method,the kinematics energy minimum principle is used to derive the velocity model of the Jacobian pseudo-inverse method,the inverse solution of trajectory fitting is solved under given trajectory constraints,then the kinematic model of the mechanism is established.The computer simulation model of mechanism and working environment is established by using commercial software,and different trajectory control strategies are used to simulate the mechanism and working environment under a given workspace.The simulation results show that the mechanism can reach the space and the flexibility of the mechanism can meet the operation requirements.