地下洞室施工排险机器人本体-末端可达域仿真研究

王奉奇; 晋良海; 彭仲文; 贺国春; 李宬; 毛三军

doi:10.14188/j.1671-8844.2025.0145

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地下洞室施工排险机器人本体-末端可达域仿真研究

更新时间：2026-10-13

- 地下洞室施工排险机器人本体-末端可达域仿真研究
- Simulation study on body-end effector reachable workspace of the hazard elimination robot in underground tunnel construction
- 武汉大学学报（工学版） 2026年页码：1-10
- 作者机构：
  
  1.三峡大学水电工程施工与管理湖北省重点实验室，湖北宜昌 443002
  2.中国铁建大桥工程局集团有限公司，天津300300
  3.三峡大学水利与环境学院，湖北宜昌 443002
  4.国网湖北省电力有限公司黄龙滩水力发电厂，湖北十堰 442000
  5.中国长江三峡集团有限公司，北京市101199
- 作者简介：
  
  王奉奇（2001—），男，硕士研究生，主要从事施工工效仿真研究，E-mail:202308710021012@ctgu.edu.cn。
  晋良海（1973-），男，教授，全国水利工程优秀硕导，主要从事安全工效学研究，E-mail：jinlianghai@ctgu.edu.cn。
- 基金信息：
  
  国家自然科学基金面上项目(52179136);中铁建大桥局集团《滇中引水隧洞穿城施工多态扰动控制技术研究》(SDHZ2022043);中国长江三峡集团有限公司企业科研项目(202103551)
- DOI：10.14188/j.1671-8844.2025.0145
  中图分类号： TU94
- 网络首发：2026-10-13，
- 稿件说明：
移动端阅览
王奉奇, 晋良海, 彭仲文, 等. 地下洞室施工排险机器人本体-末端可达域仿真研究[J/OL]. 武汉大学学报（工学版）, 2026,1-10.

WANG Fengqi, JIN Lianghai, PENG Zhongwen, et al. Simulation study on body-end effector reachable workspace of the hazard elimination robot in underground tunnel construction[J/OL]. Engineering Journal of Wuhan University, 2026, 1-10.
王奉奇, 晋良海, 彭仲文, 等. 地下洞室施工排险机器人本体-末端可达域仿真研究[J/OL]. 武汉大学学报（工学版）, 2026,1-10. DOI： 10.14188/j.1671-8844.2025.0145.

WANG Fengqi, JIN Lianghai, PENG Zhongwen, et al. Simulation study on body-end effector reachable workspace of the hazard elimination robot in underground tunnel construction[J/OL]. Engineering Journal of Wuhan University, 2026, 1-10. DOI： 10.14188/j.1671-8844.2025.0145.

摘要

针对地下洞室施工排险机器人可达性受限的问题，提出基于多体运动学与环境感知融合的仿真分析方法：设计融合障碍物膨胀与动态安全距离启发函数的蚁群算法，实现机器人安全距离的弹性控制；建立包含6自由度机械臂的运动学约束方程组

绘制排险机器人末端可达点集图；构建排险机器人虚拟样机与三维仿真场景，求解受限空间排险人本体-末端可达域，验证机器人末端可达位置。结果表明，改进后的蚁群算法能避开所有障碍空间（机器人宽度1.5m和安全阈值0.2m），避障路径长度仅增加17.8%；末端执行器最大水平作业投影面积可达30.17m

，垂直作业范围1.71~8.35m，单次规划耗时321ms，满足实时排险需求。研究成果为地下洞室排险机器人设计提供理论支撑。

Abstract

To address the reachability limitations between the robot body and end-effector in underground cavern hazard elimination operations

this study proposes a simulation analysis method integrating multibody kinematics and environmental perception. By designing an enhanced ant colony algorithm incorporating obstacle inflation and dynamic safety distance heuristic functions

kinematic constraint equations for a 6-DOF robotic arm were established. A virtual prototype and 3D simulation scenario were constructed to resolve the reachable workspace of the robot in confined spaces. Results demonstrated that the improved algorithm successfully avoids all obstacle zones (robot width: 1.5m + safety margin: 0.2m) with only 17.8% path length increase. The end-effector achieved a maximum horizontal working area of 30.17m² and vertical working range of 1.71-8.35m

while maintaining a single-planning cycle time of 321ms

fulfilling real-time hazard elimination requirements. These findings provide theoretical foundations for the design of underground cavern hazard elimination robots.

关键词

Keywords

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