一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人的设计与研究

doi:10.13973/j.cnki.robot.210419

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黄华, 王虎林, 王庆粉, 史方青. 一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人的设计与研究[J]. 机器人, 2022, 44(4): 471-483.DOI: 10.13973/j.cnki.robot.210419. HUANG Hua, WANG Hulin, WANG Qingfen, SHI Fangqing. Design and Study on a Wall-climbing Robot Based on Planetary Gear Track Obstacle-Surmounting and Hybrid Double Adsorption Compensation. ROBOT, 2022, 44(4): 471-483. DOI: 10.13973/j.cnki.robot.210419.

摘要针对爬壁机器人在复杂壁面工作时越障能力弱、移动迟缓和吸附力不足等问题，设计了一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人，并对壁面移动和越障的性能进行研究。首先根据机器人在壁面上的运动原理，建立其力学模型，计算出沿壁面移动和越障所需的吸附力；进一步结合其受力情况，对越障过程中爬升阶段和跨越阶段的吸附力补偿模型和行星履带轮越障模型进行分析，确定了最大越障高度、临界工作条件和最优吸附力分配关系；在此基础上建立仿真模型对容易出现的滑移和倾覆两种失效形式进行静力学和动力学仿真，分析其稳定工作的条件。实验验证了爬壁机器人在壁面上移动和越障的稳定性，表明所设计的机器人具有移动灵活、吸附稳定和越障性能强的特点。

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	黄华
	王虎林
	王庆粉
	史方青

关键词 ：爬壁机器人, 行星履带轮, 混合双吸附, 越障性能, 运动分析

Abstract：To address the problems such as weak obstacle-surmounting performance, slow movement, and insufficient adsorption force when the wall-climbing robot works on complex wall surfaces, a wall-climbing robot based on planetary gear track obstacle-surmounting and hybrid double adsorption compensation is designed, and the performances of movement and obstacle-surmounting on the wall are studied. Firstly, a mechanical model is built according to the movement principle of the robot working on the wall. In addition, the adsorption force required by the robot to move on the wall and surmount the obstacle is calculated. Furthermore, the adsorption force compensation model and the planetary gear track obstaclesurmounting model in the climbing and surmounting phases during the obstacle-surmounting process are analyzed with the stress distribution taken into consideration. Also, the relationship among maximum obstacle-surmounting height, critical working conditions, and optimal adsorption force distribution is discovered. On this basis, a simulation model is built to conduct static and dynamic simulations of the two common failure modes including slip and overturn, and the conditions for its stable work are also analyzed. Experiments show that the wall-climbing robot can move on the wall and surmount obstacle stably, which demonstrates that the robot has excellent performances in flexible movement, stable adsorption, and robust obstacle-surmounting.

Key words： wall-climbing robot planetary gear track hybrid double adsorption obstacle-surmounting performance motion analysis

收稿日期: 2021-09-23 录用日期: 2021-12-31

TP242

通讯作者: 黄华，hh318872@126.com E-mail: hh318872@126.com

作者简介: 黄华（1978-），男，博士，副教授。研究领域：特种机器人。
王虎林（1998-），男，硕士生。研究领域：爬壁机器人。

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.210419 或 https://robot.sia.cn/CN/Y2022/V44/I4/471

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