基于模糊PID的箱梁移动焊接机器人  

Mobile Welding Robot for Box Girder Based on Fuzzy PID

作　　者：吴泽华 张霖 王宝玉 赵言正[1] WU Zehua;ZHANG Lin;WANG Baoyu;ZHAO Yanzheng(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]浙江理工大学机械工程学院,杭州310018

出　　处：《组合机床与自动化加工技术》2023年第9期141-144,150,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金资助项目(52004034)。

摘　　要：针对结构化箱梁移动焊接作业需求,设计了一种新型六足轮腿式机器人及其控制系统。首先设计了机器人的本体结构模型;然后针对机器人模型进行了运动学分析与建模,规划了机器人的越障步态;同时为了保证机器人在直线运动过程中的稳定性,采用了模糊PID控制算法,再利用Simulink软件进行了仿真;最终搭建了实验平台进行实验测试。实验证明,基于模糊PID控制方法的轮腿式机器人的直线运动偏差相比于普通PID控制方法的更小,能够实现稳定的越障运动。A new hexapod wheeled-legged robot and its control system are designed to meet the requirements of mobile welding of structured box girder.First,the body structure model of the robot is designed.Then,the kinematics analysis and modeling are carried out for the robot model,and the robot′s obstacle crossing gait is planned.In order to ensure the stability of the robot in the process of linear motion,the fuzzy PID control algorithm is used,and the Simulink software are used for simulation.Finally,an experimental platform is built for experimental testing.The experimental results show that the linear motion deviation of the wheel-legged robot based on fuzzy PID control method is smaller than that of the conventional PID control method,and it can achieve stable obstacle crossing motion.

关 键 词：轮腿式机器人 模糊PID 步态规划 仿真实验 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]