储罐爬壁机器人转向滑移分析与优化  

Analysis and Optimization of Steering and Sliding of Tank Wall Climbing Robot

作　　者：何媛媛 唐东林[2] 覃超 王平杰 He Yuanyuan;Tang Donglin;Qin Chao;Wang Pingjie(Sichuan Special Equipment Inspection Institute,Chengdu 610061,China;School of Mechanical and Electrical Engineering,Southwest Petroleum University,Chengdu 610500,China)

机构地区：[1]四川省特种设备检验研究院,成都610061 [2]西南石油大学机电工程学院,成都610500

出　　处：《机电工程技术》2025年第5期34-39,共6页Mechanical & Electrical Engineering Technology

基　　金：国家市场监管总局科技计划项目(2022MK115);南充市-西南石油大学市校科技战略合作项目(23XNSYSX0048)。

摘　　要：针对轮式爬壁机器人在垂直壁面发生转向滑移等问题,提出了爬壁机器人转向滑移量数学模型,分析了壁面滑移的影响因素。首先建立爬壁机器人壁面转向的动力学模型,结合四轮差速运动学、动力学方程推导了爬壁机器人的转向滑移模型,计算出滑移前后机器人质心位移变化关系。其次,根据机器人质心位移表达式,分析驱动轮转速和磁吸附力对转向滑移量的关系。最后,基于滑移理论模型和仿真分析结果,进行爬壁机器人样机转向滑移及优化实验。结果表明,滑移量受爬壁机器人的驱动轮转速和磁吸附力等参数影响,通过适量增大驱动轮速和磁吸附力,机器人在X方向上滑移量的最大缩减值约21 mm,Y方向滑移量的最大缩减值约为220 mm,能够有效减小壁面滑移。该研究对改善爬壁机器人滑移现象,提高控制精度具有一定的工程实践意义。A mathematical model for the steering slip of wheeled wall climbing robots on vertical walls is proposed,and the influencing factors of wall slip are analyzed.Firstly,a dynamic model of the wall turning of the wall climbing robot is established,and the turning slip model of the wall climbing robot is derived by combining four wheel differential kinematics and dynamic equations.The relationship between the displacement of the robot’s center of mass before and after the slip is calculated.Secondly,based on the displacement expression of the robot’s center of mass,analyze the relationship between the driving wheel speed and magnetic adsorption force on the steering slip amount.Finally,based on the slip theory model and simulation analysis results,the prototype of the wall climbing robot is subjected to steering slip and optimization experiments.The results show that the slip amount is affected by the driving wheel speed and magnetic adsorption force of the wall climbing robot.By appropriately increasing the driving wheel speed and magnetic adsorption force,the maximum reduction value of the robot’s slip amount in the X direction is about 21 mm,and the maximum reduction value of the robot′s slip amount in the Y direction is about 220 mm,which can effectively reduce wall slip.This study has certain engineering practical significance for improving the sliding phenomenon of wall climbing robots and improving control accuracy.

关 键 词：爬壁机器人 壁面滑移 动力学模型 机器人定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TQ053.2[自动化与计算机技术—控制科学与工程]