共查询到19条相似文献,搜索用时 343 毫秒
1.
一种轮足复合式爬壁机器人动力学建模与分析 总被引:1,自引:0,他引:1
针对爬壁机器人不同状态下吸附力合理值的求解问题开展研究.首先分析了一种包含闭链约束的轮足复合型移动机构,基于运动等效原则将其拆成开链机构.利用牛顿-欧拉算法对分拆后的开链机构进行动力学建模.基于动力学模型,以运动失效的临界条件为约束函数,构建爬壁机器人在不同倾角壁面上的吸附力学模型,从而获得不同状态下吸附力的合理值.仿真和实验表明基于该模型获得的吸附力参数能够保证机器人的安全吸附.因此所构建的模型是合理的,可以为爬壁机器人在不同状态下合理控制吸附力大小提供理论依据. 相似文献
2.
陈巧 《计算机测量与控制》2023,31(2):135-140
壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。 相似文献
3.
为解决爬壁机器人在船舶货舱清洗过程中多壁面过渡的问题,该文设计了一种具有壁面自适应能力的磁吸附爬壁机器人,其包括磁吸附机构、自适应清洗机构和行走机构。该文首先通过建立机器人壁面过渡时的力学模型,得到机器人磁吸附力的分布特点,并据此设计出一种弧形磁吸附机构。然后利用 ANSYS Maxwell 3D 软件对该机构磁吸附力的分布进行优化,以满足壁面过渡的需要;此外,还在机器人前端设计了一种自适应清洗机构,通过对该机构的结构原理进行分析和实验,验证了清洗机构也具有壁面过渡能力。最后通过模拟船舶货舱壁面的实际特点,对机器人样机进行壁面过渡综合实验,完成了机器人舱底过渡行走实验和舱顶过渡行走实验,验证了该机器人的壁面自适应和舱内行走的能力。 相似文献
4.
5.
6.
7.
针对传统机器人控制器控制性能差,控制时间慢的问题,基于System Vue研究了一种新的爬壁机器人控制器。在机器人控制器仿生分析过程中,对爬壁机器人的腿部进行仿生关节的模拟性增加操作,并进一步提升关节的灵活性,促使关节在运行过程中能够自主完成对身体的前后控制以及倾斜处理,根据所获得的仿生与步态规划数据,对爬壁机器人控制器进行控制模型的建立与参数的设置操作,优化爬壁机器人控制器吸附控制算法,并利用LM339芯片改进JH-D400X-R4型六向摇杆的内部电路,使控制爬壁机器人的吸附和移动功能得到更好的控制。利用引导路径加强系统自身防护,对路径进行清理。实验结果表明,基于System Vue的爬壁机器人控制器具有较好的控制性能,控制时间提高了1.52s。 相似文献
8.
对于高层建筑清洁、大型化工罐体焊接与检测以及管道、隧道等狭小空间的安全巡查,传统方式为人工操作,存在安全隐患及效率低下等缺点,针对这些问题,提出了一种爬壁机器人设计方案。通过研究自然界尺蠖类生物的壁面攀爬机理,结合仿生技术,利用真空吸附和爪刺抓附两种附着技术,研发了一种仿尺蠖多模式爬壁机器人。首先在静态条件下,采用D-H参数法建立了机器人运动学数学模型,求解了机器人运动学的正、逆解,然后进行了基于极坐标理论的机器人控制方法研究,分析了了步态控制策略,并基于嵌入式控制器搭建了实际样机的控制系统,进行了功能性测试,验证了爬壁机器人的运动学模型的正确性和步态控制方法的平稳性,为双足类仿生机器人进一步研究提供了参考。 相似文献
9.
为提高爬壁机器人的粘附性能和脱附效率,实现高效爬行运动,提出了一种仿生爪刺式履带爬壁机器人.该机器人结合了腿式机器人容易脱附和履带式机器人粘附面积大的优点,在不增加额外驱动的前提下,实现了机器人爪刺足的可控粘附与脱附.首先,在东方绢金龟足部柔顺跗节链结构的启发下,设计了仿生柔顺爪刺结构来适应粗糙壁面形貌、提高足部粘附性能.然后,针对履带旋转运动引起爪刺脱附困难的问题,设计了一种双轨道机构来模仿昆虫足部粘附、脱附动作.最后,在多种粗糙壁面上开展了爬行实验,结果表明爪刺足粘附稳定且易于脱附. 相似文献
10.
11.
Development of universal vacuum gripper for wall-climbing robot 总被引:1,自引:0,他引:1
Masahiro Fujita Suguru Ikeda Toshiaki Fujimoto Toshihiko Shimizu Shuhei Ikemoto Takeshi Miyamoto 《Advanced Robotics》2018,32(6):283-296
Task performed at a height, such as wall inspections are one of the dangerous tasks for humans. Thus, robotic technology for safety inspection is required. This research focuses on developing robots to climb vertical walls with flat and uneven surfaces, e.g. concrete, tile and riveted structure. To have wall-climbing capability, climbing robots use vacuum pads, claws, magnets, intermolecular force, and adhesive. However, each of these approaches has disadvantages. To achieve wall climbing on an uneven surface without scratching and staining, we have developed a novel vacuum pad named the Universal Vacuum Gripper (UVG), which is based on the Universal Gripper (UG). The UG is a robot hand using jamming transition of coffee powder inside a balloon to grip uneven material. The UVG is a vacuum pad with a deformable skirt based on the UG. If the skirt shape is deformed in accordance with the contact surface, air leaks can be avoided. Moreover, the deformed skirt can be stiffened, thereby working as a gripper. Here, we evaluate the proposed gripper, having both grasping and adhesion force. We also develop a wall-climbing robot with UVGs, and evaluate its performance on uneven surfaces under real-world conditions. 相似文献
12.
Mohamed G. Alkalla Mohamed A. Fanni Abdel− Fattah Mohamed Shuji Hashimoto Hideyuki Sawada Takanobu Miwa 《Advanced Robotics》2013,27(20):1042-1059
This paper presents a new kind of climbing robots called EJBot, which has not been restricted to climb certain surface materials or terrains. EJBot is inspired by propeller-based aviation systems, however, its adhesion principle is opposite to flight concept. Thanks to the hybrid actuation system embedded in this robot which gives a good and stable adhesion. This hybrid system consists of propeller thrust forces and wheel torques actuated simultaneously to generate the proper adhesion force. It is similar to a car climbing a ramp, it needs both weight of the car and the wheels' torques. Without these torques, the car will roll down. Consequently, the thrust forces of the propellers increase the traction force capacity, then the wheels' role arises to generate the convenient torques for stopping the robot or navigating it on the structures. The feasibility of this adhesion concept is verified by the first and second modules of EJBot as presented in the simulation and practical results. 相似文献
13.
Robust climbing in unstructured environments has been one of the long-standing challenges in robotics research. Among others, the control of large adhesion forces is still an important problem that significantly restricts the locomotion performance of climbing robots. The main contribution of this paper is to propose a novel approach to autonomous robot climbing which makes use of hot melt adhesion (HMA). The HMA material is known as an economical solution to achieve large adhesion forces, which can be varied by controlling the material temperature. For locomotion on both inclined and vertical walls, this paper investigates the basic characteristics of HMA material, and proposes a design and control of a climbing robot that uses the HMA material for attaching and detaching its body to the environment. The robot is equipped with servomotors and thermal control units to actively vary the temperature of the material, and the coordination of these components enables the robot to walk against the gravitational forces even with a relatively large body weight. A real-world platform is used to demonstrate locomotion on a vertical wall, and the experimental result shows the feasibility and overall performances of this approach. 相似文献
14.
15.
Zhen Chen Meng Zou Dong Pan Lining Chen Yansong Liu Baofeng Yuan Qiang Zhang 《野外机器人技术杂志》2023,40(5):1172-1186
To ensure the safety and efficiency of Zhurong Mars rover when climbing a slope on Mars, the forces of the rover under four climbing methods, which are normal climbing, Z-type climbing, diagonal climbing, and bionic wriggle climbing, are analyzed. Each method corresponds to different maximum climbing slopes. The experiments are carried out with a backup rover on dense and soft terrains to determine the range of climbing slope for different climbing methods. According to the slope, peak current, cost of transport, and state of terrain, the climbing strategy is given. For dense and soft terrains, the soil cohesive is 0.99 and 1.4 kN/mn+1 and soil friction modules are 1528 and 700 kN/mn+2, respectively. Specifically, normal climbing is recommended for low-range slopes, while Z-type or diagonal climbing are suggested for medium-range slopes, and bionic wriggle climbing is found to be optimal for high-range slopes. To ensure the safety of the Zhurong Mars rover, it fails climbing if the critical values are exceeded. These results provide valuable insights for human operators when planning the rover's slope-climbing actions on Mars. 相似文献
16.
17.
ABSTRACTIn this paper, we propose the design of a single-wheeled robot capable of climbing stairs. The robot is equipped with the proposed climbing mechanism, which enables it to climb stairs. The mechanism has an extremely simple structure, comprised of a parallel arm, belt, harmonic drive, and pulley. The proposed climbing mechanism has the advantage of not requiring an additional actuator because it can be driven by using a single actuator that drives the wheel. The robot is equipped with a control moment gyroscope to control the stability in a lateral direction. Experimental results demonstrate that the robot can climb stairs with a riser height of 12–13?cm and a tread depth of 39?cm at an approximate rate of 2 to 3 s for each step. 相似文献
18.
为了更好地控制六足仿生机器人适应野外作业环境,针对机器人野外定位问题,提出了一种六足仿生减灾救援机器人无线野外定位系统解决方案,方案以三星S3C2440为硬件平台,以嵌入式linux系统为软件平台,设计了六足仿生机器人野外定位系统。通过GPS全球定位系统进行六足仿生机器人的定位,利用GPRS实现网络通信,并将定位信息传输到终端设备,终端设备通过发送命令的方式控制六足仿生机器人实现相应的动作。实验证明:该系统的稳定性好,可靠性较高,能较好的满足六足仿生减灾救援机器人野外定位的需求。 相似文献
19.
拆线施工机器人是一种爬线机器人,挂在架空线上沿线行进,代替工人完成拆线施工中索道缆绳的铺设。为满足拆线施工机器人在具有一定垂弧度的架空线上爬线行进的需要,对拆线施工机器人的爬线行进机构进行了分析与设计,提出了一种四轮爬线行进机构。该机构利用顶升装置及张紧轮提供额外的压力,以满足拆线施工机器人爬坡时所需的摩擦力。随后,分析了机器人爬坡时的受力情况,给出了顶升装置所提供压力的条件及计算公式。基于所提机构,进行了施工机器人的顶升装置的选型计算及论证,实际应用表明本文的设计可以满足实际需要。 相似文献