摘要
为了提升攀爬机器人壁面运动稳定性从而提高其工程应用能力。针对攀爬机器人壁面运动过程的振动与动力学耦合特性问题,本文设计制作了一种含柔性吸附材料的攀爬机器人。基于刚柔耦合原理,获得刚性体与柔性体运动学递推关系,利用拉格朗日原理建立攀爬机器人动力学方程。推导得到反应动力学耦合程度的数学模型。通过仿真分析得到运行相同位移情况下,通过调整加减速时间比例使得机器人振幅下降35%,分析得到一定范围内攀爬机器人刚性质量与吸附材料弹性模量增加通过降低动力学耦合程度降低攀爬机器人振动响应。通过样机实验测量了攀爬机器人负载能力与不同运动阶段真空度与流量的稳定性。研究为攀爬机器人的驱动控制策略与工程应用奠定基础。
By improving the wall motion stability of the climbing robot,its engineering application ability could be enhanced.Aiming at the coupling characteristics of vibration and dynamics in the process of wall motion of the climbing robot,a climbing robot with flexible adsorption material is designed and fabricated in this article.Based on the rigid-flexible coupling principle,the kinematic recurrence relation between the rigid body and the flexible body is obtained.And the dynamic equation of the climbing robot is established by using the Lagrangian principle.A mathematical model of the degree of coupling of reaction kinetics is formulated.Through simulation analysis,it is found that the amplitude of the robot decreases by 35%by adjusting the ratio of acceleration and deceleration time under the same displacement during operation.The analysis shows that the rigid mass of the climbing robot and the elastic modulus of the adsorbent material increase within a certain range,and the degree of dynamic coupling reduces the climbing robot vibration response.Through the prototype experiment,the load capacity of the climbing robot and the stability of vacuum and flow in different movement stages are measured.The research provides the foundation for the driving control strategy and engineering application of the climbing robot.
作者
王学军
张帆
Wang Xuejun;Zhang Fan(School of Electrical andMechanical Engineering,Kunming University of Science and Technology,Kunming 650504,China;Yunnan Provincial Key Laboratory of Advanced Equipment Intelligent Manufacturing Technology,Kunming 650504,China;Yunnan Advanced Equipment Intelligent Maintenance Engineering Research Center School of Mechanical and Electrical Engineering,Kunming 650500,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2022年第8期271-279,共9页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(52165013,51565021)
国家重点研发计划(2017YFC1702503)项目资助
关键词
攀爬机器人
柔性吸附材料
刚柔耦合动力学
振动特性
climbing robot
flexible adsorption material
rigid-flexible coupling dynamics
vibration characteristics
