新型爬壁机器人步态规划及设计

Gait Planning and Design of a New Wall-climbing Robot

设计一种新型足式爬壁机器人结构。基于多项式运动方程建立腿部结构各部件运动规划,得到其速度及加速度变化情况,避免各部件间产生刚性冲击;根据机器人腿部结构的工作原理设计其步态规划。结果表明,机器人足部依次交替吸附并连续运动,实现抬腿、迈步、落腿及重叠等步态,并可调整迈步间距和迈步高度,保证机身与作业面始终保持平行,提高整体结构运动的稳定性。验证了爬壁机器人整体结构设计的合理性和具有垂直壁面的爬行能力。

A new type of foot-type wall-climbing robot structure is introduced.The motion planning of each part of the robot’s leg structure is completed through polynomial motion planning,and the gait planning of the robot is designed.Based on the polynomial motion equation,the motion plan of each part of the leg structure is established,and the velocity and acceleration change diagrams are obtained to avoid the rigid impact between the parts;and according to the working principle of the robot’s leg structure,the gait plan is designed.The experimental results show that the feet of the robot’s leg structure alternately adsorb and move continuously to achieve gait such as lifting,stepping,falling and overlapping.Parallelism improves the stability of the overall structure operation,and verifies the rationality of the overall structure design of the wall-climbing robot and the ability to climb vertical walls.