曲面上双足三自由度爬壁机器人设计与稳定性分析  

Design and Stability Analysis of Dual-foot 3 DOF Climbing Robot for Blade Surface

作　　者：王斌锐[1,2] 冯伟博[1] 骆浩华[1] 金英连[1] 吴善强[1] 

机构地区：[1]中国计量学院机电工程学院,浙江杭州310018 [2]美国田纳西大学工程学院,美国诺斯威尔37996

出　　处：《机器人》2014年第3期349-354,共6页Robot

基　　金：浙江省自然科学基金资助项目(LQ13E050004;LY14F030021);科技部质检公益项目(201210076);国家留学基金资助项目(2011833209)

摘　　要：针对3个柔性铰链真空吸盘构成的吸盘组双足机器人,分析了机器人能够适应的曲率半径范围.通过静力分析,建立了含机器人姿态转角的力与力矩平衡方程,使用防倾覆和防滑落条件推导出吸盘半径和机器人重心的稳定性约束方程.通过MATLAB优化求解得到稳定所需的最小吸附力,并分析了曲面攀爬安全系数与足部关节转角、重心之间的关系;结果表明,安全系数与转角呈非线性关系,水平姿态时安全系数最小,可通过重心位置来调节稳定性.设计开发了样机,实验证明机器人样机能在风电叶片上进行旋转攀爬.A mechanism is established for the dual-foot biped robot with the vacuum sucker composed of three flexible hinge suction cups, and the curvature range in which the robot can move is analyzed. Based on the static force analysis, the force and torque equilibrium equations are derived under different rotation angles. The stability constraint equations are built for the suction cup radius and the gravity center position of the robot under the anti-sliding and anti-turning-over conditions. Through MATLAB optimization simulation, the minimum adsorption force for guaranteeing stability is solved, and the relationships between the climbing safety factor and the foot joint angle, the gravity center position are given and analyzed. The results show that the safety factor is nonlinear to the foot joint angle, its minimum value is obtained at robot horizontal pose, and the robot stability can be adjusted by the gravity center position. The physical prototype robot is developed and implemented to indicate that the proposed robot can climb and rotate on the wind turbine blade.

关 键 词：爬壁机器人 真空吸附 叶片 稳定性 曲面 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]