大型排爆机械手机械系统设计与操作算法研究（可复制论文）.pdf

上海交通大学硕士学位论文摘要

大型排爆机械手机械系统设计与操作算法研究
摘要

反恐机器人系统主要用于代替人工,直接在案发现场进行侦察,排除和
处理爆炸物以及其他危险品,也可以对持枪的恐怖分子及犯罪分子实施有效
攻击,是反恐部队中必不可少的重要装备,同时也广泛应用于救援以及作战
平台领域。本论文针对目前排爆机器人承载能力低、工作空间有限、不能适
应复杂环境等不足展开研究,研制了可适应车底、车厢等复杂环境作业的大
型排爆机械手,主要包括机械手的机械设计、运动学分析及操作算法等方面。
本文先从整体上对机器人机械设计的特点和局部结构相关元件的选择进
行研究,根据作业环境的要求、负载能力,利用现代机械设计方法,如 CAD
设计、模块化设计等,通过比较各种传动方式的优缺点,由抓取爆炸物的手
爪入手,按从前向后的顺序相对独立地利用 Pro/E 设计了排爆机械手的各个
关节结构。接着对其进行了运动干涉分析和改进,最终设计了一种具有平面
冗余度的六自由度机械手。随后采用 D-H 坐标变换法建立了该机械手的运动
学模型,推导了坐标变换矩阵 T 和雅可比矩阵 J,并进行算例验证。最后利
用传感器技术和冗余度机器人的特性提出了一种简单实用的机械手操作法,
并用 Matlab 开发了运动仿真程序。

关键词:排爆机器人,机械手,机械设计及优化,操作算法,传感器
I
上海交通大学硕士学位论文 ABSTRACT
MECHANICAL DESIGN AND RESEARCH ON
ALGORITHM FOR OPERATION OF
LARGE EOD ROBOT MANIPULATOR

ABSTRACT

Anti-terrorism robot system is mainly used to detect, eliminate and
dispose bomb or other dangerous exploder. In additon, it can be used for
lauching attack to rodman and terrorist. It is not only the essential equipment
in anti-terrorist army, but also widely used in or and battle. Because of
the low payload, finite work space and bad adaptability plex envi-
ronment, the thesis puts more emphasis on the issue and researches a series
of problems including the whole design of robot manipulator, analysis of
kinematics and algorithm for operation and so on, developed a large EOD
robot manipulator which can be used plex environmen such as bottom
of motor and carriage.
First, the thesis researched the characteristric of mechanical design as a
whole and selection of partial structure units. According to the related
requirement, with modern methods of mechanical design such as CAD,
module design and so on, the thesis designed the joint structure dependently
one by one from the grip to the waist parison of advantages and
II
上海交通大学硕士学位论文 ABSTRACT
disadvantages of each transmmision mechanism. Then the thesis researched
the simulation of motion inference and finally plished a 6-DOF robot
manipulator.