摘要
提出了一种适用于飞机内弯曲腔道检查的新型六足式爬行机器人结构设计。实验表明,基于六足机器人的运动学模型建立的综合优化模型,可从稳定裕度曲线图中选择全局最优六足步态,优化基于五次多项式的足端轨迹,能在不同倾角的斜坡和管道上实现精确运动,具有良好的表面适应性、稳定性和跨越障碍等综合能力,并能稳定地越过150mm高障碍。飞机内弯曲腔道检查爬行机器人可应用于更复杂环境,其设计方法对类似足式机器人具有指导意义。
A new hexapod crawling robot is proposed for the inspection of curved cavity in the aircraft.Experiments show that the comprehensive optimization model based on the dynamic model of the hexapod robot can select the global optimal hexapod gait from the stability margin curve diagram,optimize the foot end trajectory based on the fifth polynomial and achieve precise movement on slopes and pipelines at different inclination angles with good surface adaptability,stability and comprehensive ability to cross obstacles and stably cross 150-mm-high obstacles.The crawling robot for curved cavity inspection in the aircraft can be applied to more complex environments and the design method provides guidance for similar legged robots.
作者
卢鉴
赵起祥
王峰
陈杰
王伟
Lu Jian;Zhao Qixiang;Wang Feng;Cheng Jie;Wang Wei(Holy Equipment Technology Co of Chengdu,Chengdu 611937 Sichuan China;Beijing University of Aeronautics and Astronautics,Beijing 100191 China)
出处
《中国民航飞行学院学报》
2025年第3期27-32,共6页
Journal of Civil Aviation Flight University of China
基金
国防基础科研项目(JCKY2021203B035)
四川省科技重点项目(2020YFG0449)。
关键词
爬行机器人
步态规划
飞机腔道检查
Crawling robot
Gait planning
Aircraft cavity inspection
