四足磁吸附爬壁机器人稳定性与动力学分析

Stability and dynamics analysis of a four-legged magnetic adsorption wall-climbing robot

动力学分析是机器人评估运动性能以及实施运动控制的关键,由于四足爬壁机器人的多运动链结构和闭链约束,运动学分析较为困难。为此,本文提出以虚功原理求解四足磁吸附爬壁机器人的稳定性与动力学。求解动力学方程,利用优化理论设计驱动力二次规划方法,通过最小功率原则计算关节驱动力,并验证其合理性。设计仿真实验,通过PID控制,采用Matlab与ADAMS联合仿真。仿真结果表明:该控制方案具有较高的跟踪性能和控制精度,负载在350 N及以下时,机器人不会发生滑移,并验证了冗余驱动下驱动力求解的正确性。

Dynamic analysis is the key to evaluating a robot′s motion performance and implementing motion control.It is difficult to conduct kinematics analysis because of the multi-kinematic chain structure and closed chain constraints of the quadruped wall-climbing robot.Therefore,this paper puts forward the principle of virtual work to solve the stability and dynamics equation of a quadruped magnetic wall-climbing robot.This principle can be used to solve the dynamic equation,apply the optimization theory to design the driving force quadratic programming method,calculate the joint driving force using the principle of minimum power,and verify its rationality.Design the simulation experiment through a proportional-integral-derivative control,using Matlab and ADAMS for joint simulation.The simulation results show that the control scheme has high tracking performance and control accuracy.When the load is 350 N or below,the robot will not slip,and the correctness of the driving force solution is verified under redundant driving.