Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms

Xue Jiaolong; Gao Qiang; Zhang Jie; Yan Hongwei

doi:10.16578/j.issn.1004.2539.2022.12.018

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Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms

Test·Analysis | 更新时间：2023-01-06

- Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 119-123(2022)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.12.018
  CLC：
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薛姣龙,高强,张杰等.仿蝎式复合机器人多臂协同分析[J].机械传动,2022,46(12):119-123.

Xue Jiaolong,Gao Qiang,Zhang Jie,et al.Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms[J].Journal of Mechanical Transmission,2022,46(12):119-123.
薛姣龙,高强,张杰等.仿蝎式复合机器人多臂协同分析[J].机械传动,2022,46(12):119-123. DOI： 10.16578/j.issn.1004.2539.2022.12.018.

Xue Jiaolong,Gao Qiang,Zhang Jie,et al.Cooperative Analysis of a Scorpion-like Composite Robot with Multiple Arms[J].Journal of Mechanical Transmission,2022,46(12):119-123. DOI： 10.16578/j.issn.1004.2539.2022.12.018.

摘要

针对国内焦炉厂对于炉内人工温度测量效率低的问题，设计了一种用于焦炉测温的仿蝎式复合机器人。机器人结合蝎子的结构特征进行工作，利用蝎子的双钳提起炉盖，用蝎尾的红外测温仪对炉内温度进行测量。为了验证机器人结构的合理性，通过Matlab对复合机器人进行整体D-H结构建模，对复合机器人腿部的运动进行正逆运动学分析，并通过蒙特卡罗方法仿真得到双臂以及尾部红外测温仪的工作空间概率模型。为了验证机器人运动稳定性，通过Adams仿真得到复合机器人的稳定步态。为后续机器人研究奠定坚实的基础。

Abstract

Aiming at the low efficiency of temperature measurement in coke oven factory, a type of scorpion-like composite robot is designed to measure temperature in coke ovens. The robot works in combination with the structural characteristics of the scorpion. It uses the scorpion's double pincers to lift the lid of the furnace and measures the temperature in the furnace with the infrared temperature measurement of the scorpion tail. In order to verify the rationality of the robot structure, the overall D-H structure of the composite robot is modeled by Matlab, the forward and inverse kinematics of the legs of the composite robot are analyzed, and the working space probability model of the infrared thermometer with both arms and tail is obtained by Monte Carlo method simulation. In order to verify the motion stability of the robot, the stable gait of the composite robot was obtained through Adams simulation. It lays a solid foundation for further robot research.

关键词

焦炉测温D-H工作空间稳定步态

Keywords

Coke oven temperature measurementD-HWorkspaceStable gait

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