工程科学学报，第39卷，第6期：924-932.2017年6月 Chinese Journal of Engineering,Vol.39,No.6:924-932,June 2017 D0I:10.13374/j.issn2095-9389.2017.06.016;htp://journals.ustb.edu.cn 螺旋桨清洗机器人超灵巧机械臂设计 罗天洪)，王晴)☒，马翔宇) 1)重庆交通大学机电与车辆工程学院，重庆4000742)西安航空学院机械工程学院.，西安710077 ☒通信作者，E-mail:986632209@qg.com 摘要针对轮船螺旋桨清洗时因空间结构曲面复杂而难清理的问题，设计一种搭载于水下吸附式机器人载体上的射流超 灵巧机械臂(hyper-dexterous manipulator,HDM)清洗装置.结合无骨架类生物肌肉高自由度特点构建超灵巧机械臂结构，采用 虎克铰接的连接方式替换相邻关节连接处的柔性构件，兼顾了高压水射流承载压力高的特点.运用几何分析法对单端机械 臂进行正逆运动学建模，基于多关节连杆变换通式推导出基于等圆弧假设下的机械臂模型，进而得出其多关节驱动空间与操 作空间的映射关系.仿真实验和物理实验对比结果表明，所设计的机械臂能够达到期望的操作空间位姿，并能在加载实验下 保证一定的鲁棒性。 关键词清洗机器人；超灵巧机械臂；刚柔耦合；仿生学 分类号TP241.3 Ultra-smart manipulator design for propeller-cleaning robots LUO Tian-hong,WANG Qing,MA Xiang-yu?) 1)School of Mechanotronics Vehicle Engineering,Chongqing Jiao Tong University,Chongqing 400074,China 2)School of Mechanical Engineering,Xian Aeronautical University,Xian 710077,China Corresponding author,E-mail:986632209@qq.com ABSTRACT A hyper-dexterous manipulator(HDM)cleaning device,mounted on an underwater adsorption robot,was designed to address the complications of cleaning the space structure surface on ship propellers.The HDM mechanical structure was constructed by exploiting the high degrees of freedom associated with skeleton-like biological muscle.Considering the characteristics of high-pressure water jet,Hookes hinge was used to replace flexible components at joints.Kinematics and inverse kinematics modeling of the single- ended manipulator was performed using the geometric analysis method wherein a manipulator model based on the assumption of equal arcs was obtained from a multi-joint connecting rod transformation.Then,a mapping relation between the multi-joint drive space and the operation space was derived.The comparison of simulated experiments to physical results reveals that the robot amm design achieves the desired operating position and robustness can be guaranteed during the loading experiment. KEY WORDS cleaning robots;hyper-dexterous manipulator;rigid-flexible coupling;bionics 随着各国对海洋产业开发投入的加大及国防产业因此，定期清理船体表面对保持轮船高效航行显得十 需求的增加，海洋装备及与其相关的水下机器人的重 分重要. 要性日益凸显.国家也将海洋战略，海洋科技放到了 船舶水下清洗经历了三个主要阶段：第1个阶段 一定的战略高度-】.由于船舶长时间在海水浸泡会 为人工清洗阶段，第2个阶段为大型机械清洗阶段，前 附着海洋生物，降低轮船的航速，增加燃油损耗.螺旋 两个阶段主要在船坞内进行，第3个阶段为水下机器 桨上附着的海洋生物使得螺旋桨有效功降低20%[]. 人自动化清洗阶段.目前较多的水下清洗机器人研究 收稿日期：2016-12-28 基金项目：国家自然科学基金资助项目(51375519)：重庆市研究生科研创新基金资助项目(CYS15181)工程科学学报,第 39 卷,第 6 期:924鄄鄄932,2017 年 6 月 Chinese Journal of Engineering, Vol. 39, No. 6: 924鄄鄄932, June 2017 DOI: 10. 13374 / j. issn2095鄄鄄9389. 2017. 06. 016; http: / / journals. ustb. edu. cn 螺旋桨清洗机器人超灵巧机械臂设计 罗天洪1) , 王 晴1)苣 , 马翔宇2) 1)重庆交通大学机电与车辆工程学院, 重庆 400074 2)西安航空学院机械工程学院, 西安 710077 苣通信作者,E鄄mail:986632209@ qq. com 摘 要 针对轮船螺旋桨清洗时因空间结构曲面复杂而难清理的问题,设计一种搭载于水下吸附式机器人载体上的射流超 灵巧机械臂(hyper鄄dexterous manipulator,HDM)清洗装置. 结合无骨架类生物肌肉高自由度特点构建超灵巧机械臂结构,采用 虎克铰接的连接方式替换相邻关节连接处的柔性构件,兼顾了高压水射流承载压力高的特点. 运用几何分析法对单端机械 臂进行正逆运动学建模,基于多关节连杆变换通式推导出基于等圆弧假设下的机械臂模型,进而得出其多关节驱动空间与操 作空间的映射关系. 仿真实验和物理实验对比结果表明,所设计的机械臂能够达到期望的操作空间位姿,并能在加载实验下 保证一定的鲁棒性. 关键词 清洗机器人; 超灵巧机械臂; 刚柔耦合; 仿生学 分类号 TP241郾 3 Ultra鄄smart manipulator design for propeller鄄cleaning robots LUO Tian鄄hong 1) , WANG Qing 1)苣 , MA Xiang鄄yu 2) 1) School of Mechanotronics & Vehicle Engineering, Chongqing Jiao Tong University, Chongqing 400074, China 2) School of Mechanical Engineering, Xi'an Aeronautical University, Xi'an 710077, China 苣Corresponding author, E鄄mail: 986632209@ qq. com ABSTRACT A hyper鄄dexterous manipulator (HDM) cleaning device, mounted on an underwater adsorption robot, was designed to address the complications of cleaning the space structure surface on ship propellers. The HDM mechanical structure was constructed by exploiting the high degrees of freedom associated with skeleton鄄like biological muscle. Considering the characteristics of high鄄pressure water jet, Hooke's hinge was used to replace flexible components at joints. Kinematics and inverse kinematics modeling of the single鄄 ended manipulator was performed using the geometric analysis method wherein a manipulator model based on the assumption of equal arcs was obtained from a multi鄄joint connecting rod transformation. Then, a mapping relation between the multi鄄joint drive space and the operation space was derived. The comparison of simulated experiments to physical results reveals that the robot arm design achieves the desired operating position and robustness can be guaranteed during the loading experiment. KEY WORDS cleaning robots; hyper鄄dexterous manipulator; rigid鄄flexible coupling; bionics 收稿日期: 2016鄄鄄12鄄鄄28 基金项目: 国家自然科学基金资助项目(51375519);重庆市研究生科研创新基金资助项目(CYS15181) 随着各国对海洋产业开发投入的加大及国防产业 需求的增加,海洋装备及与其相关的水下机器人的重 要性日益凸显. 国家也将海洋战略,海洋科技放到了 一定的战略高度[1鄄鄄2] . 由于船舶长时间在海水浸泡会 附着海洋生物,降低轮船的航速,增加燃油损耗. 螺旋 桨上附着的海洋生物使得螺旋桨有效功降低 20% [3] . 因此,定期清理船体表面对保持轮船高效航行显得十 分重要. 船舶水下清洗经历了三个主要阶段:第 1 个阶段 为人工清洗阶段,第 2 个阶段为大型机械清洗阶段,前 两个阶段主要在船坞内进行,第 3 个阶段为水下机器 人自动化清洗阶段. 目前较多的水下清洗机器人研究