仿尺蠖爬壁机器人自适应吸附及摇杆控制

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Title:

Adaptive adsorption and joystick control of an inchworm wall-climbing robot

作者:

高国庆, 王涛, 王斌锐

中国计量大学 机电工程学院, 浙江 杭州 310018

Author(s):

GAO Guoqing, WANG Tao, WANG Binrui

College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China

关键词:

仿尺蠖爬壁机器人; 真空吸附; 摇杆操作; 建模

Keywords:

inchworm wall-climbing robot; vacuum adsorption; rocker control; modeling

分类号:

TP242

DOI:

10.11992/tis.201611016

摘要:

为了解决真空吸附爬壁机器人爬行时，需要吸盘和壁面紧密贴合，不易操控的问题。建立了吸盘足至壁面的空间几何模型；基于D-H参数，建立了运动学模型，根据速度运动学逆解，设计了一种用于对称机构爬壁机器人的摇杆操作方法，将摇杆轴映射为关节速度闭环；根据位置运动学逆解，设计了自适应吸附动作，吸盘足与壁面距离小于设定阈值时，自动触发自适应吸附动作；搭建了机器人控制系统和自适应吸附装置，在水平壁面上进行爬行实验，验证了该方法可减小操控难度。

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.