基于半解析法的四足爬壁机器人关节扭矩估算

Joint Torque Estimation for Quadruped Wall Climbing Robot Based on Semi Analytical Method

四足爬壁机器人的足端力和关节扭矩是机器人吸附力设计和关节电机选型的重要依据。在考虑重力和吸附姿态变化的情况下,利用有限元分析足端力和关节扭矩需要重复画网格和仿真分析,工作量较大。结合运动学、静力学和有限元分析提出一种简单且统一的半解析方法估算不同吸附姿态下四足爬壁机器人的足端力和关节扭矩。算例中利用半解析法计算得到84组数据并分析得到不同姿态下最大足端力和最大关节扭矩的变化规律,基于算例结果完成了机器人的吸附力设计和关节电机选型,最后实验测量了不同姿态下机器人的关节扭矩最大值。实验结果表明:机器人吸附力设计和关节选型合理,半解析法计算的最大关节扭矩误差小于8.86%。

The foot force and joint torque of quadruped wall climbing robot are important bases for the design of robot adsorption structure and the selection of joint motor.Considering the change of gravity and adsorption posture,the finite element analysis of foot force and joint torque requires repeated grid meshing and simulation analysis,which requires a lot of work.A simple and unified semi-analytical solution combining kinematics,statics and finite element analysis was proposed to solve the foot force and joint torque of quadruped wall climbing robot with different adsorption posture.In the example,84 groups of data were obtained by the semi analytical method,and the variation laws of the foot force and joint torque under different posture were analyzed.Based on the results of the example,the adsorption force design of the robot and the selection of the joint motor were completed.Finally,the maximum joint torque of the robot under different postures was measured experimentally.The experimental results show that the adsorption force design of the robot and the selection of the joint are reasonable,and the error of the maximum joint torque calculated by the semi analytical method is less than 8.86%.