[1]GAO Guoqing,WANG Tao,WANG Binrui.Adaptive adsorption and joystick control of an inchworm wall-climbing robot[J].CAAI Transactions on Intelligent Systems,2018,13(2):208-213.[doi:10.11992/tis.201611016]
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Adaptive adsorption and joystick control of an inchworm wall-climbing robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 2 Page number: 208-213 Column: 学术论文—智能系统 Public date: 2018-04-15
Title:
Adaptive adsorption and joystick control of an inchworm wall-climbing robot
Author(s):
GAO Guoqing;  WANG Tao;  WANG Binrui
College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
Keywords:
inchworm wall-climbing robot; vacuum adsorption; rocker control; modeling
CLC:
TP242
DOI:
10.11992/tis.201611016
Abstract:
When a vacuum-adsorbed wall-climbing robot crawls, it is necessary for the acetabulum to closely attach onto a wall surface, and this is not easy to manipulate. To solve this problem，a space geometry model on the acetabulum foot and wall surface was developed, and a kinematics model was established on the basis of the D-H parameters. A rocker control method was designed for the wall-climbing robot with symmetric structure according to the inverse kinematics for speed. The rocker shaft was mapped as the joint velocity loop, and the adaptive adsorption action was designed according to the inverse kinematics for location. When the distance between the acetabulum foot and the wall surface was less than the set threshold, the adaptive adsorption action was triggered automatically. The robot control system and adaptive adsorption device were built, and a crawling experiment that was carried out on the horizontal wall surface revealed that the method could reduce the difficulty of manipulation.
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