爬壁机器人翻越焊缝过程动力学建模研究

Dynamics Modelling of Process of Surmounting Weld Seam by Wall-climbing Robot

用于远洋渔船外板除锈的爬壁机器人在进行壁面作业时需要翻越焊缝,采用充气轮的爬壁机器人在翻越焊缝后会出现轮胎压缩量的减小,导致磁铁气隙增大、磁铁吸附力减小,从而削弱爬壁机器人的负载能力,降低了壁面行走可靠性,为此对爬壁机器人翻越焊缝的动力学过程进行研究。首先,将驱动轮轮胎简化为弹簧阻尼器,建立爬壁机器人翻越焊缝过程的动力学模型,并将驱动轮的翻越焊缝过程划分为不同的阶段;其次,利用数值方法求解该动力学模型,分析不同胎压下驱动轮翻越焊缝过程中爬壁机器人的运动状态;最后,进行了爬壁机器人翻越焊缝过程试验,结果表明,机器人翻越焊缝过程的试验结果与数值仿真结果基本一致,验证了本文所建动力学模型的正确性与合理性。

A wall-climbing robot can be used for the rust removal task of fishing vessels.And the robot is inevitably required to surmount weld seam when operating on the hull plate.For the wall-climbing robot with inflatable wheels and suspended magnet,the compression of the tires is decreased after surmounting weld seam,which leads to an increase in the air gap between the magnet and the hull plate with a following decrease in the magnetic adsorption force.Thus the load capacity of wall-climbing robot is weakened,which affects the reliability of wall-walking.In order to solve the problems mentioned above,a research on the dynamic process of the wall-climbing robot surmounting weld seam was carried out.Firstly,based on the drive-wheel tires simplified as spring dampers,a dynamics model of the wall-climbing robot surmounting weld seam was established,and the weld-seam surmounting process of the drive-wheel was divided into different stages.Secondly,a numerical method was proposed to solve the dynamics model.Meanwhile,the motion state of the wall-climbing robot with different values of tire pressure when surmounting weld seam was analyzed.Finally,experiment was carried out and the experimantal results were basically consistent with the numerical simulation ones,which verified the rationality and correctness of the established dynamics model.