四轮爬壁机器人滑移转向运动分析  

Analysis of Sliding and Steering Motion of Four-Wheel Wall-Climbing Robot

作　　者：唐东林[1] 谢光磊 李龙 陈印 ANG Dong-lin;XIE Guang-lei;LI Long;CHEN Yin(Key Laboratory of Petroleum and Natural Gas Equipment,Ministry of Education,School of Mechatronic Engineering,Southwest Petroleum University,Sichuan Chengdu 610500,China)

机构地区：[1]西南石油大学机电工程学院石油天然气装备教育部重点实验室,四川成都610500

出　　处：《机械设计与制造》2023年第9期258-262,共5页Machinery Design & Manufacture

基　　金：四川省科技支撑计划资助项目(2017FZ0033);成都市技术创新研发项目(2018-YF05-00201-GX);西南石油大学国家重点实验室项目(PLN201828)。

摘　　要：针对四轮驱动爬壁机器人在铅垂壁面上进行原地滑移转向运动过程进行研究,提出了机器人壁面滑移运动模型。首先从动力学角度分析了爬壁机器人在壁面转向时产生滑移的原因,建立爬壁机器人原地滑移转向运动的动力学模型,结合运动学、动力学方程推导出爬壁机器人的滑移运动模型,从而确定转向过程中由滑移造成的机器人质心位置坐标变化量。结果表明:机器人在原地转向过程中存在纵向和横向滑移,滑移量与机器人的轮速以及相关设计参数有关,适当增大轮速能有效减少滑移。通过仿真与实验验证,证明理论分析的正确性,可为四轮爬壁机器人的路径规划和滑移问题研究提供理论依据。A four-wheel wall-climbing robot was developed to study the in-situ slippage and steering movement on the vertical wall surface of the robot.Climbing robot is firstly analyzed from the Angle of dynamics in the wall to the causes of slip,establish a dynamic model of in situ sliding steering robot movement,combined with kinematics and dynamics equation is deduced from the sliding motion model of robot,thus determine steering caused by sliding the barycentric position of the robot in the process of coor⁃dinate change.The results show that the robot has longitudinal and transverse slippage in the process of in-situ steering,and the slippage is related to the wheel speed of the robot and relevant design parameters,and appropriately increasing the wheel speed can effectively reduce the slippage.Through simulation and experiment,the correctness of theoretical analysis is proved,which can provide theoretical basis for path planning and slippage of four-wheel wall-climbing robot.

关 键 词：爬壁机器人 原地转向 壁面滑移 动力学模型 滑移量 

分 类 号：TH16[机械工程—机械制造及自动化] TH122