【摘要】 针对综合管廊的安全运维与管理的需求,设计一种集巡检和消防灭火功能于一体的管廊消防巡检机器人。该机器人由机器人本体、灭火器、机械臂和智能检测系统构成。介绍了机器人的总体结构及功能,建立了机械臂的D-H坐标系,对机械臂进行正、逆运动学分析。运用蒙特卡洛法及MATLAB软件对机器人机械臂的工作空间进行仿真与分析,得到不同情况下的机械臂末端的工作空间,仿真结果验证了机械臂可灵活满足机器人的工作要求,为后续管廊消防巡检机器人的控制工作和优化设计奠定了基础。更多还原

【Abstract】 According to the requirements of safety operation and maintenance and management of the comprehensive pipe gallery,a pipe gallery fire inspection robot was designed,which integrated the functions of inspection and fire fighting. The robot was composed of a robot body,a fire extinguisher,a robot arm and an intelligent inspection system. The overall structure and function of the robot were introduced,the D-H coordinate system of the robot was established,and the forward and inverse kinematics of the robot were analyzed. Monte Carlo method and MATLAB software were used to simulate and analyze the working space of the robot arm,and the working space of the end of the robot arm under different conditions was obtained. The simulation results verify that the robot arm can flexibly meet the working requirements of the robot,which lays a foundation for the control work and optimization design of the subsequent fire inspection robot for pipe gallery.更多还原