轮足式磁吸附越障爬壁机器人设计与分析

Design and Analysis of Wheel-footed Magnetic Adsorption Wall-climbing Robot with Passing Obstacles Capability

针对现有爬壁机器人负载能力弱、复杂障碍地形下适应能力差以及运动柔顺性不足等特点,提出了一种基于轮足复合式运动与非接触变间隙永磁吸附的柔顺越障爬壁机器人。在分析石化储罐、船舶等非结构化设备作业环境特点和功能需求的基础上,融合构型主被动理念,设计了机器人移动本体并对主被动越障步态进行了规划;对机器人在不同工况下的稳定性进行分析,建立了机器人安全吸附的数学模型;建立了机器人直行与转向下的动力学模型,分析了机器人的转向灵活性;结合机器人金属立面智能控制需求,对机器人的智能控制系统进行了设计。通过样机平台实验表明,机器人能够实现灵活的主被动越障,具有自适应柔顺运动以及大负载的能力。

Aiming at the characteristics of the existing wall-climbing robots,such as weak load capacity,poor adaptability to complex obstacle terrain and insufficient motion flexibility,a compliant wall-climbing robot based on wheel-foot compound motion and non-contact variable gap permanent magnet adsorption is proposed.Based on the analysis of the characteristics and functional requirements of the unstructured environment of the equipment operation such as petrochemical tanks and ships,the mobile ontology of the robot is designed and the active passive obstacle crossing gait is planned by integrating the concept of configuration active and passive;The stability of the robot under different working conditions is analyzed,and the mathematical model of robot safety adsorption is established;The dynamic model of the robot under straight travel and steering is established,and the steering flexibility of the robot is analyzed;According to the requirement of intelligent control of robot metal facade,the intelligent control system of robot is designed.The prototype platform experiments show that the robot can achieve flexible active and passive obstacle surmounting,and has the ability of adaptive compliant motion and large load.