基于黏附稳定包络边界的爬壁机器人竖直壁面过渡策略

A Vertical Wall Transition Strategy with Reliable Adhesion Envelope Boundaries for Wall-climbing Robots

  • 摘要: 爬壁机器人由于其出色的攀爬能力在管道、壁面类检修与维护等方面表现出独有的优势, 但是攀爬过程中因缺乏竖直异面过渡能力而限制了其在壁面的运动性能。本文以机器人在竖直攀爬面上内直角处灵活过渡为研究目标, 提出了多足机器人在壁面过渡中的足端力映射模型与足底力求解方法, 以及相应的壁面过渡策略。首先建立了一种适用于匍匐式攀爬机器人的足端黏附力映射模型, 构建了足端力与质心广义力的等效映射关系, 在此基础上以机身稳定为原则, 采用多约束的非线性规划方法求解出能够实现壁面过渡的黏附包络的上下边界, 为机器人稳定壁面过渡提供评价指标。其次, 研究壁面过渡进程中机器人与环境稳定接触与剥离的优化过渡策略, 并依据所提出的评价指标完成仿真验证。最后在实体机器人平台上测试上述壁面过渡策略, 实验结果表明该策略能够有效提升壁面过渡的成功率, 保障爬壁机器人在壁面过渡应用中的可靠性。

     

    Abstract: The wall-climbing robot shows unique advantages in pipeline and wall overhaul and maintenance due to its excellent climbing ability. However, the lack of transition ability between different vertical walls during climbing limits its motion performance on the wall. In this paper, the flexible transition of the robot at the inside right-angle between two vertical climbing surfaces is taken as the research goal. The foot-end force mapping model and the plantar force solution method of the multi-legged robot in wall transition are proposed, as well as the corresponding wall transition strategy. Firstly, a foot-end adhesion force mapping model suitable for creeping-type wall-climbing robots is established, and the equivalent mapping relationship between the foot-end force and the generalized force of the center of mass is constructed. Based on the principle of fuselage stability, the upper and lower boundaries of the feasible adhesion envelope in wall transition are solved by the multi-constraint nonlinear programming method, which provides an evaluation index for the stable wall transition of the robot. Secondly, the optimal transition strategy of stable contact and stripping between robot and environment in the wall transition process is studied, and the simulation verification is completed according to the proposed evaluation index. Finally, the above wall transition strategy is tested on the real robot. The experimental results show that the strategy can effectively improve the success rate of wall transition and ensure the reliability of wall climbing robot in wall transition application.

     

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