六足式幕墙清洗爬壁机器人设计与控制  

Design and Control of Hexapod Curtain Wall Cleaning and Climbing Robot

作　　者：谢晓轩 李自胜[1] 留沧海 邓归洲 陈坤 XIE Xiao-xuan;LI Zi-sheng;LIU Cang-hai;DENG Gui-zhou;CHEN Kun(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621000,China)

机构地区：[1]西南科技大学制造科学与工程学院,绵阳621000

出　　处：《自动化与仪表》2021年第5期41-46,共6页Automation & Instrumentation

基　　金：国家级大学生创新创业训练计划资助项目(S202010619035)。

摘　　要：针对高楼玻璃幕墙人工清洗效率低、劳动量大的问题,为实现幕墙清洗机器人在壁面上可靠吸附和自由运动,该文研制了一种基于真空负压吸附、可以全方位运动的六足式舵机驱动爬壁机器人。首先对机器人本体机械结构进行设计及爬壁运动控制系统进行设计,利用D-H参数法对机器人进行了运动学分析,求解出各个关节转角的表达式,然后对机器人运动步态进行规划,分析了舵机和真空吸盘的控制方法,完成了其移动和吸附的协调运动规划。最后基于STM32控制芯片开发了程序代码,实现了机器人的爬壁运动并进行了验证实验。Aiming at the problems of low manual cleaning efficiency and large labor for high-rise glass curtain walls,in order to achieve reliable adsorption and free movement of curtain wall cleaning robots on the wall,a hexapod rudder based on vacuum suction and capable of omnidirectional movement has been developed.Machine-driven wall-climbing robot.First,design the mechanical structure of the robot body and design the wall-climbing motion control system,use the DH parameter method to analyze the kinematics of the robot,solve the expression of each joint angle,and then plan the robot motion gait and analyze the rudder The control method of the machine and the vacuum sucker completes the coordinated movement planning of its movement and adsorption.Finally,the program code is developed based on the STM32 control chip,which realizes the wall-climbing motion of the robot and conducts verification experiments.

关 键 词：六足机器人 幕墙清洗 爬壁机器人 结构设计 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]