Control Strategy of Stable Climbing Mechanics for Gecko-Inspired Robot on Vertical Arc Surface

IF 1.6 4区工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Instrumentation & Measurement Magazine Pub Date : 2023-04-01 DOI:10.1109/MIM.2023.10083002

Jinjun Duan, Bingcheng Wang, Baolin Ji, Weidong Sun, Zhouyi Wang, Z. Dai

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引用次数: 0

Abstract

With the rapid development of global industry, the storage capacity of oil tanks and wind turbine towers worldwide is gradually increasing and with it the problem of their maintenance: how to achieve a stable attachment of maintenance equipment to such vertical arcs? Wall-climbing robots are the ideal delivery platform due to their interface bonding capabilities. However, the robot is susceptible to the curvature of the curved surface. If the contact between its attachments and the crawling surface is inadequate, the closed chain system formed by the stance phase is unable to resist the force impact from the sticky release, and the risk of the robot destabilizing and tipping over is great. To improve the robot's adaptive capacity and anti-disturbance capability, this paper proposes an adaptive external force-softening motion strategy for the limbs of the inner and outer curved stance phases to ensure the stability of the robot body. The foot end motion is orthogonally decoupled into the forward direction and the arc surface fitting direction, and the stance phase adopts a virtual mass-damping control model to realize the spring cushioning behavior of the system during the forward motion. The experimental results show that the algorithm proposed in this paper can effectively improve the stability of the robot in the process of vertical arc crawling and avoid the phenomenon of unstable fall.

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垂直弧面上壁虎机器人稳定爬升机构的控制策略

随着全球工业的快速发展，世界范围内的油罐和风机塔架的储存能力正在逐渐增加，随之而来的是其维护问题：如何实现维护设备与这些垂直弧线的稳定连接？爬墙机器人是理想的交付平台，因为它们具有界面粘合能力。然而，机器人容易受到曲面曲率的影响。如果其附件与爬行表面之间的接触不足，则由站立阶段形成的闭合链系统无法抵抗粘性释放的力冲击，机器人失稳和倾覆的风险很大。为了提高机器人的自适应能力和抗干扰能力，本文针对内外弯曲站姿阶段的肢体提出了一种自适应外力软化运动策略，以确保机器人身体的稳定性。脚端运动正交解耦为向前方向和弧面拟合方向，站立阶段采用虚拟质量阻尼控制模型来实现系统在向前运动过程中的弹簧缓冲行为。实验结果表明，本文提出的算法可以有效地提高机器人在垂直圆弧爬行过程中的稳定性，避免不稳定跌倒的现象。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Instrumentation & Measurement Magazine 工程技术-工程：电子与电气

CiteScore

4.20

自引率

4.80%

发文量

147

审稿时长

>12 weeks

期刊介绍： IEEE Instrumentation & Measurement Magazine is a bimonthly publication. It publishes in February, April, June, August, October, and December of each year. The magazine covers a wide variety of topics in instrumentation, measurement, and systems that measure or instrument equipment or other systems. The magazine has the goal of providing readable introductions and overviews of technology in instrumentation and measurement to a wide engineering audience. It does this through articles, tutorials, columns, and departments. Its goal is to cross disciplines to encourage further research and development in instrumentation and measurement.