双爪式爬杆机器人的夹持性能分析  

Grasping Performance Analysis of a Biped-pole-climbing Robot

作　　者：江励[1] 管贻生[2] 周雪峰 杨铁牛[1] 苏满佳[2] 吴鸿敏[2] 

机构地区：[1]五邑大学机电工程学院,江门529000 [2]广东工业大学机电工程学院,广州510006 [3]广东省自动化研究所现代控制技术重点实验室,广州510075

出　　处：《机械工程学报》2016年第3期34-40,共7页Journal of Mechanical Engineering

基　　金：广东省自然科学基金(S2013020012797);国家基金委-广东省联合基金(U1401240);国家国际科技合作专项(2015DFA11700)资助项目

摘　　要：双爪式攀爬机器人已成为一类重要的和主流的攀爬机器人,这类机器人中两端手爪对攀爬对象抓夹的安全性和可靠性是攀爬的前提条件和基本要求,也是一个关键问题。基于此,在介绍自行开发的双爪式爬杆机器人Climbot之后提出这类机器人抓夹圆杆时的夹持力封闭性问题,对封闭性进行论证。分别分析机器人进行平面攀爬和空间攀爬时对支撑端夹持器产生的负载形式,建立其力平衡模型。基于该模型,计算夹持器的各种尺寸参数对夹持性能的影响,并对计算结果进行系统的分析。通过几组攀爬夹持试验对提出的夹持模型进行验证。结果对夹持器的设计和攀爬安全性的保证具有重要的参考和指导意义。Biped climbing robots have become an important class of climbing robots, where the reliability of pole-grasping with the end grippers is a basic and critical requirement for safe climbing, and the analysis of grasping reliability is a key issue. A biped pole-climbing robot, the Climbot developed is first introduced. The problem of force-closure of grasping with the robot climbing on a round pole is presented and proved. The dynamic loads generated onto the base gripper when the robot climbs in different climbing gaits are analyzed, and the balance models are proposed, respectively, in 2D and 3D cases. Based on these models, the effect of geometric parameters of the gripper on grasping performance is analyzed. The correctness of the models and effectiveness of the corresponding analysis are verified with several grasping experiments. The results are helpful and valuable to gripper design for biped climbing robots and guarantee of grasp reliability.

关 键 词：爬杆机器人 抓夹安全性 夹持力封闭 力平衡模型 夹持器设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]