毛晨曦, 沈煜年. 爪刺式飞行爬壁机器人的仿生机理与系统设计[J]. 机器人, 2021, 43(2): 246-256. DOI: 10.13973/j.cnki.robot.200120
引用本文: 毛晨曦, 沈煜年. 爪刺式飞行爬壁机器人的仿生机理与系统设计[J]. 机器人, 2021, 43(2): 246-256. DOI: 10.13973/j.cnki.robot.200120
MAO Chenxi, SHEN Yunian. Bionics Mechanism and System Design of a Spine-Type Flying and Wall-Climbing Robot[J]. ROBOT, 2021, 43(2): 246-256. DOI: 10.13973/j.cnki.robot.200120
Citation: MAO Chenxi, SHEN Yunian. Bionics Mechanism and System Design of a Spine-Type Flying and Wall-Climbing Robot[J]. ROBOT, 2021, 43(2): 246-256. DOI: 10.13973/j.cnki.robot.200120

爪刺式飞行爬壁机器人的仿生机理与系统设计

Bionics Mechanism and System Design of a Spine-Type Flying and Wall-Climbing Robot

  • 摘要: 在深入分析自然界生物在含粉尘非结构化表面上着陆栖息和爬行仿生原理的基础上,建立了爪刺式飞行爬壁机器人的爬行动力学模型和接触—碰撞动力学模型,研究了爬壁系统的爬行动力学和机器人整机的接触—碰撞动力学行为.利用柔性碳纤维杆和柔性绳组合机构以及爪刺机构,实现爪刺对壁面的自适应抓附与脱离.完成了具有飞行和壁面爬行能力的爪刺式飞行爬壁机器人的优化设计,并开展了整机着陆栖息和爬行的实验.通过与计算结果的比较,验证了动力学模型的正确性和仿生设计的可行性.研究得到了理想爬行步态所需要的舵机驱动力曲线,且发现当尼龙绳预紧力为0.75 N时,对爬行过程中的抖振现象的减缓效果最佳.同时,还深入分析了着陆初速度、能量转换以及舵机升力对着陆栖息的影响,结果表明当着陆碰撞前速度约为0.9 m/s、俯仰角约为-10°时,机器人能正常着陆在粗糙壁面上,并且碳纤维杆的能量转换与升力的共同配合能扩大成功着陆所需的初始状态范围.

     

    Abstract: Based on in-depth analysis on bionic principles including landing, perching and crawling of natural animals on unstructured dusty surfaces, the crawling dynamics and contact-impact models for the spine-type flying and wall-climbing robot are established, and the crawling dynamics of the wall-climbing system and the contact-impact dynamic behavior of complete machine are calculated. Using the flexible carbon-fiber rod, the flexible rope and the spine mechanism, self-adaptive grasping and separation between the spine and the wall are achieved. The optimal design of spine-type flying and wall-climbing robot with the ability to fly and crawl on walls is completed, and perching and landing experiments are carried out with the complete machine. By comparing computational results with experimental data, the correctness of the presented dynamic model and the feasibility of the biomimetic design are validated. Through our study, the driving force curve of steering gear for ideal climbing gait is obtained. It is found that buffeting can be suppressed optimally during climbing when the prestressing force of nylon rope is 0.75 N. Meanwhile, the effects of the initial landing speed, the energy conversion and the steering gear lift on landing and perching are analyzed in depth. The results show that the robot can successfully land on the coarse wall surface at an initial speed about 0.9 m/s and a pitch angle about -10°, and the range of initial state for successful landing can be expanded through the coordination of the lift force and the energy conversion of carbon rod.

     

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