全向移动爬壁机器人设计及其运动特性研究

Design and Motion Characteristics of Omnidirectional Mobile Wall-climbing Robot

设计了一种在壁面上运动的全向移动机器人。该机器人采用三轮全向运动方式与负压气室附着方式相结合的机械结构,既可以在壁面上灵活地完成平面内三自由度的连续运动,又具有较好的附着鲁棒性。针对机器人系统在壁面上运动时受到重力而导致的与在地面上运动特性之间的差异,推导了机器人各轮压地力关于壁面上朝向角的表达式,并由滑移临界状态推导得到机器人在任意朝向下各方向的最大加速度,最后通过仿真实验验证了各轮压地力模型与滑移临界状态模型的正确性。该研究能够为全向移动爬壁机器人的机械结构设计提供指导,为其路径规划与运动控制提供加速度约束。

An omnidirectional mobile wall-climbing robot is designed in this paper. The robot adopts the mechanical structure that combines the movement of three-wheeled omnidirectional wheels and the adhesion of the negative pressure air chamber. The robot system can flexibly complete the three-degree-of-freedom in-plane continuous movement on the wall, and has good adhesion robustness. Aiming at the difference between the motion characteristics of the robot system on the ground and on the wall caused by gravity, the expression of each wheel’s ground pressure model on the orientation of the system on the wall is derived, and the maximum acceleration of the robot in any orientation is derived from the critical slipping state. Finally, the correctness of each wheel’s ground pressure model and the critical slipping state model is verified by simulation experiments.The conclusions of this paper can provide guidance for the design of the mechanical structure and acceleration constraints for path planning and motion control of the omnidirectional mobile wall-climbing robot.