仿尺蠖爬壁机器人自适应吸附及摇杆控制-智能系统学报.PDF

第 13 卷第 2 期 智　能　系　统　学　报 Vol.13 No.2 2018 年 4 月 CAAI Transactions on Intelligent Systems Apr. 2018 DOI: 10.11992/tis.201611016 网络出版地址: /kcms/detail/23.1538.TP1937.012.html 仿尺蠖爬壁机器人自适应吸附及摇杆控制 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 ） 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。 关键词：仿尺蠖爬壁机器人；真空吸附；摇杆操作；建模 中图分类号：TP242 文献标志码：A 文章编号：1673−4785(2018)02−0208−06 中文引用格式：高国庆, 王涛, 王斌锐. 仿尺蠖爬壁机器人自适应吸附及摇杆控制[J]. 智能系统学报, 2018, 13(2): 208–213. 英文引用格式：GAO Guoqing, WANG Tao, WANG Binrui. Adaptive adsorption and joystick control of an inchworm wall-climb- ing robot[J]. CAAI transactions on intelligent systems, 2018, 13(2): 208–213. Adaptive adsorption and joystick control of an inchworm wall-climbing robot GAO Guoqing，WANG Tao，WANG Binrui (College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China) 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 problema 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 ac- cording to the inverse kinema