摘要
面向多种壁面的作业要求,基于尺蠖的生物学运动特征,提出了一种具有壁面过渡以及地面快速行走能力的多模式爬壁机器人。壁面爬行时,通过控制前后两足的交替运动,可在垂直壁面跨越高300mm的障碍,并能够实现水平面到竖直面的快速转换;地面行走时,通过控制左右两侧的驱动电机,机器人可实现直行、转弯等动作。首先设计了机器人的综合构型,对吸盘、爪刺等关键附着部件开展抓附力学行为分析;其次规划了机器人在壁面过渡、壁面爬行时的运动步态,得出机器人各个关节的广义驱动力数学模型。借助动力学仿真软件,求得机器人在壁面爬行、壁面过渡时的关节驱动力矩变化趋势;最后,采用碳纤维以及轻质航空铝等材料制作机器人原理样机,并在粗糙地面、石灰墙面测试样机过渡、攀爬性能,实验表明:机器人可在(0~90)°夹角壁面携带4kg负载快速过渡,并能够在垂直壁面持续稳定爬行。
Facing the operation requirements of various wall surfaces,based on the biological motion characteristics of inchworms,a multi-mode wall-climbing robot with wall transition and fast ground walking ability is proposed.When crawling on the wall,the robot can cross obstacles with a height of 300mm on the vertical wall,and further,itcanalso realize the rapid conversion from the horizontal to the vertical plane by controlling the alternating motion of the front and rear legs.When walking on the ground,the robot can achieve straight ahead,turning and other actions by controlling the drive motors on the left and right sides.Secondly,the gait of the robot during wall transition and wall crawling is planned toobtain the generalized driving force mathematical model of each joint.With the dynamic simulation software,the change trends of all joint torques are given.Finally,the principle prototype of the robot is made of carbon fiber and lightweight aviation aluminum,and the performance of the robot is tested on rough ground and lime walls.The experiment shows that the robot can carry 4kg load on the wall surface with an angle of(0~90)°for rapid transition,and can also continuously and stably crawl on the vertical wall surface.
作者
刘进福
朱铮彦
龙杰
李栋
LIU Jinfu;ZHU Zhengyan;LONG Jie;LI Dong(School of Intelligent Control,Changzhou Institute of Industry Technology,Jiangsu Changzhou 213164,China;Hefei Institutes of Physical Science,Chinese Academy of Sciences,Anhui Hefei 230026,China;Changzhou Industrial Technology Research Institute of Zhejiang University,Jiangsu Changzhou 213022,China;School of Physics and Electronic Science,Hubei University,Hubei Wuhan 430062,China)
出处
《机械设计与制造》
北大核心
2026年第2期332-336,341,共6页
Machinery Design & Manufacture
基金
江苏省自然科学基金(BK20220241)
常州市重点研发计划项目(CJ20210040)
江苏省高校自然科学基金面上项目(21KJB460006)。
关键词
尺蠖
爬壁机器人
过渡
运动步态
越障能力
Inchworm
Wall Climbing Robot
Transition
Gait
Obstacle Crossing Ability
