高适应爬壁机器人的研发
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摘要
爬壁机器人是机器人的一种,属于极限作业机器人。爬壁机器人主要用于垂直壁面、球面等攀爬行走,可搭载相应的设备,实现壁面的清洗、探伤、管道敷设、油漆等多种功能,是一种通用的用于垂直壁面、球面等场合的行走机器人。本文研究目的是设计可靠性高、适应性强、控制简单能够自主移动、自主避障的爬壁机器人。
本文首先对FFROBOT机器人样机进行了实验测试,针对FFROBOT存在的不足,提出了SFROBOT组合式多吸盘真空吸附、气电混合驱动、气动肌腱加滑轮装置的自由越障机构的总体方案。
本文构建了一种全新爬壁机器人三维模型,设计了仿生肌肉和滑轮组的全新越障机构和扭转气缸驱动的移动机构。分析了机器人移动的安全性问题,设计了组合式真空多吸盘配置组内铰接的结构方式,并对真空吸附系统进行了创新设计。详细设计了基于TMS320LF2407A DSP的机器人控制系统和多传感器环境检测系统。
本文分析了机器人的运动姿态,针对姿态变换过程中的位置控制量的驱动,设计了PWM并联控制高速开关阀的气动伺服系统,建立了平动气缸动态特性模型和气动肌腱动态特性控制的数学模型,提出了PID调控PWM/PFM五点开关控制策略。
本设计中结构件的设计充分考虑了轻量化的要求,对结构件进行了有限元强度分析和优化。最后进行了气动位置伺服的仿真,结果证明本文控制策略满足机器人运动作业要求,实现了机器人步距和越障高度的自由调整,控制精度为1mm。
Climbing robot is a kind of robot, belong to the limits homework robot. Climbing robot is mainly used in vertical wall and spherical etc, can carry crawling up corresponding equipment, realize the surface cleaning, detection, pipe laying, paint and other functions, is a kind of common used in vertical wall and spherical etc of robot. This research aim is to design reliability, high adaptability, simple control can be independent movement, autonomous obstacle-avoiding climbing robot.
Firstly FFROBOT prototype was tested in this paper, according to the existent deficiency of FFROBOT, this paper puts forward SFROBOT plan whicn used combined-type more sucker vacuum absorption, pneumatic&motor drive and free obstacle-navigation institutions consisted of pneumatic muscles and pulley device.
The paper constructs a new climbing robot 3D model, designed pneumatic muscles and pulleys brand-new obstacle-navigation institutions and reversed cylinder driving movement organization. Analysed the safety of mobile robot, then designed combined-type chuck configuration group, and make the way of hinged vacuum adsorption system innovation design. Based on DSP TMS320LF2407A robot control system and multisensor environmental detection system was detailed designed.
In this paper, the robot's motion in stance in the process of transformation, the position driver control was designed for high-speed switch valves pneumatic servo system by PWM paralleling controlling, established a dynamic model and translational pneumatic cylinder tendon mathematical model of dynamic characteristics, puts forward the PWM/PFM five points switch with PID control strategy.
The structural lightweighting design was full considerated, at the request of the intensity of finite element analysis and optimization. Finally simulated pneumatic position servo system with the control strategy, and the result showed this control strategy met robot motion, realize the requirements and steps of robot obstacle-navigation height adjustment, the control precision was in 1mm basically.
本文首先对FFROBOT机器人样机进行了实验测试,针对FFROBOT存在的不足,提出了SFROBOT组合式多吸盘真空吸附、气电混合驱动、气动肌腱加滑轮装置的自由越障机构的总体方案。
本文构建了一种全新爬壁机器人三维模型,设计了仿生肌肉和滑轮组的全新越障机构和扭转气缸驱动的移动机构。分析了机器人移动的安全性问题,设计了组合式真空多吸盘配置组内铰接的结构方式,并对真空吸附系统进行了创新设计。详细设计了基于TMS320LF2407A DSP的机器人控制系统和多传感器环境检测系统。
本文分析了机器人的运动姿态,针对姿态变换过程中的位置控制量的驱动,设计了PWM并联控制高速开关阀的气动伺服系统,建立了平动气缸动态特性模型和气动肌腱动态特性控制的数学模型,提出了PID调控PWM/PFM五点开关控制策略。
本设计中结构件的设计充分考虑了轻量化的要求,对结构件进行了有限元强度分析和优化。最后进行了气动位置伺服的仿真,结果证明本文控制策略满足机器人运动作业要求,实现了机器人步距和越障高度的自由调整,控制精度为1mm。
Climbing robot is a kind of robot, belong to the limits homework robot. Climbing robot is mainly used in vertical wall and spherical etc, can carry crawling up corresponding equipment, realize the surface cleaning, detection, pipe laying, paint and other functions, is a kind of common used in vertical wall and spherical etc of robot. This research aim is to design reliability, high adaptability, simple control can be independent movement, autonomous obstacle-avoiding climbing robot.
Firstly FFROBOT prototype was tested in this paper, according to the existent deficiency of FFROBOT, this paper puts forward SFROBOT plan whicn used combined-type more sucker vacuum absorption, pneumatic&motor drive and free obstacle-navigation institutions consisted of pneumatic muscles and pulley device.
The paper constructs a new climbing robot 3D model, designed pneumatic muscles and pulleys brand-new obstacle-navigation institutions and reversed cylinder driving movement organization. Analysed the safety of mobile robot, then designed combined-type chuck configuration group, and make the way of hinged vacuum adsorption system innovation design. Based on DSP TMS320LF2407A robot control system and multisensor environmental detection system was detailed designed.
In this paper, the robot's motion in stance in the process of transformation, the position driver control was designed for high-speed switch valves pneumatic servo system by PWM paralleling controlling, established a dynamic model and translational pneumatic cylinder tendon mathematical model of dynamic characteristics, puts forward the PWM/PFM five points switch with PID control strategy.
The structural lightweighting design was full considerated, at the request of the intensity of finite element analysis and optimization. Finally simulated pneumatic position servo system with the control strategy, and the result showed this control strategy met robot motion, realize the requirements and steps of robot obstacle-navigation height adjustment, the control precision was in 1mm basically.
引文
[1]付宜利,李志海.爬壁机器人的研究进展[J].机械设计,2008.
[2] Nishi A.Development of wall-climbing robot[J].Computer and Electrical Engineering,1996,22 (2):123-149.
[3] Gradetsky V, RachkovM, Kalinichenko S, et al. Service robot for cleaning of vertical surfaces [C].In:IARP International Advanced Robotic Programme Service and Personal Robots: Technologies and Applications,Genova,Italy,1997:23-24.
[4] Mel Siegel.Remote and automated inspection: status and prospects[C].In:The First Joint DoD /FAA /NASA Conference on Aging Air-craft,Ogden UT,1997.
[5] Tomoaki Yano,Shinji Numao,Yukio Kitamura.Development of a self contained wall-climbing robot with scanning type suction cups[C].In:Proceeding of the 1998 IEEE /RSJ International Conference on Intelligent Robots and Systems,Victoria,BC, Canada,1998:900-905.
[6] Luk B L,Collie A A,Billingsley J.RobugⅡ:an intelligent wall-climbing robot[C].In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation Sacramento,Clifomia,1991:3442-3447.
[7] Nagakubo A,Hirose S.Walking and running of the quadruped wall-climbing robot[C].In:Proc. IEEE Int Conf on Robotics and Automation,San Diego,CA,USA,1994:1005-1012.
[8] Jun Xiao,Jizhong Xiao,Ning Xi,et al,Fuzzy controller for wall-climbingmicrorobots[J].In: IEEE Transactions on fuzzy systems,2004,12(4):466-480.
[9] Jizhong Xiao,Dulimarta H,Zhen yu Yu,et al.DSP solution for wallclimbermicrorobot control using TMS320LF2407 chip[C].In:Procof the 43 rd IEEE Midwest Symposium on Circuits and Systems,Michigan,USA,2000:1348-1351.
[10] Juan Carlos Grieco,Manuel Prieto,Manuel Armada,et al.A six-legged climbing robot for high payloads[C].In:Proceedings of 1998 IEEE International Conference on Control Applications, Trieste, Italy,1998:446-450.
[11] Menon C,MurphyM,SittiM.Gecko insp ired surface climbing robots[C].In:Proceedings of the IEEE International Conference on Robotics and Biomimetics,Shenyang,China,2004:431-436.
[12] Kathryn A Daltorio,Andrew D Horchler,Stanislav Gorb,et al.A small wall-walking robot with compliant adhesive feet[C].In:2005 IEEE /RSJ International Conference on Intelligent Robots and Systems,Edmonton,Alberta,Canada,2005:4018-4023.
[13]唐宗军等.一种全方位移动爬壁机器人系统设计[J].机器人技术,2006.01
[14]周忆等.一种轻型多足爬壁机器人的设计[J].机床与液压,2006.07
[15]王刚等.一种新型多足仿生机器人步行足关节结构研究[J].制造业信息化,2008.05
[16]桂仲成.多体柔性永磁吸附爬壁机器人[J].机械工程学报,2008.06
[17]张培等.一种新型爬壁机器人机构及运动学研究[J].机器人,2007.01
[18]王巍.曲面幕墙清洁机器人攀爬技术[J].北京航空航天大学学报,2008.01
[19]孙洪等.攀爬蛇形机器人爬树的静态机理研究[J].机器人,2008.03
[20]文怀海等.立式金属罐容积检定爬壁机器人的研制[J].自动化仪表,2007.08
[21]王兴如等.超高压水射流船舶爬壁除锈机器人力学特性分析[J].机床与液压,2008.10,36(10).
[22]张国平等.爬壁机器人真空吸附及运动方式探讨[J].Hydraulics Pneumatics & Seals,2008:14-17
[23]于今,闫军涛,饶冀.一种新型多吸盘壁面清洗机器人模型研究[J].液压与气动. 2007(3).
[24]日本机器人学会编.宗光华等译.机器人技术手册[M].北京:科学出版社,2007.10.
[25]曲以义编.气压伺服系统[M].上海交通大学出版社.1998
[26]杨钢.气动人工肌肉位置伺服系统研究及其应用[博士学位论文],武汉:华中科技大学,2004.9
[27]刘明春.McKibben气动人工肌肉的静动态特性及控制策略研究[硕士学位论文].兰州:兰州理工大学,2009.06
[28]王田苗等.仿壁虎机器人研究综述[J].机器人,2007.05.
[29]谢存禧等.机器人技术及其应用[M].华南理工大学出版社:2005.
[30]黄真等.高等空间机构学[M].高等教育出版社,2006.
[31]陆鑫盛.气动自动化系统的优化设计[M].上海科学技术文献出版社,2000.
[32] Jongung Choi.LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICAL MUSCLES
[33] M.Rachkov,Control of Climbing Robot for Rough Surfaces,Third International Workshop on Robot Motion and Control,2002.09
[34] Hans Dulimarta, R.L. Tummala, Design and Control of Miniature Climbing Robots with Nonholonomic Constraints, Proceedings of the“4”World Congress on Intelligent Control and Automation,2002.07
[35]周延武,宗光华.Cleanbot-Ⅰ擦窗机器人的智能化技术[J ].机器人,2002 ,24 (1):6-11.
[36]汪勇,高层建筑智能擦窗机控制系统的设计[硕士学位论文].北京航空航天大学,2001.03.
[37]孟宪超,王温祖等.一种多吸盘爬壁机器人的研制[J].机械设计.2002.07.
[38]田兰图,杨向东等.油罐检测爬壁机器人结构与控制系统设计[J].机器人.2004.11
[39]徐芸,刘宝生,赵锡芳.自动扫查爬壁机器人结构及控制系统研究[J].控制与检测.2004.08.
[40]谈士力,王建成,苏建良等.球形壁面爬行机器人研制[J].机器人,2002.11
[41]孙锦山,杨庆华,阮健.气动多吸盘爬壁机器人[J].液压与气动,2005.08.
[42]张兴悟,章永华,杨杰等.高机动性小型爬壁机器人的研究[J].机械研究与应用.2007.04.
[43] Akra Nishi Faculty of Engineering Miyazaki Universinty Miyazaki 889-21,JAPAN.A Wall Climbing Robot Using Propulsive Force of Propell.1991 IEEE.320-325
[44] S Galt',BL Luk',DS Cooke2 and AA Collie2.A Tele-Operated Semi-Intelligent Climbing Robot For Nuclear Applications.1997 IEEE.18-123
[45] WHITE,Tim S.THE DESIGN AND OPERATIONAL PERFORMANCE OF A CLIMBING ROBOT USED FOR WELD INSPECTION IN HAZARDOUS ENVIRONMENTS.1998 IEEE. 451-455
[46] BLLuk,GSVirk.CLIMBING AND WALKING ROBOTS FOR HAZARDOUS ENVIRONMENTS.1996 The Institution of Electrical Engineers.Printed and published by the IEE,Savoy Place,London WCPR OBL,UK.1-3
[47] Juan Carlos Grieco",Manuel Prieto,Manuel Armada,Pablo Gonzalez de Santos.A SIX-LEGGECDL IMBING ROBOTF OR IGH PAYLOADS. Proceedings of the 1998 IEEE International Conference on Control Applications Trieste,Italy,1998.09
[48] Author Kouichi Masuzawa,Ken Ichiryu2001
[49]濮良贵,纪名刚.机械设计[M].高等教育出版社.1999.02,257-261.
[50]徐灏.机械设计手册[M].北京:机械工业出版社,1995.
[51]郑堤,唐可洪.机电一体化设计基础[M].北京:机械工业出版社.1997.
[2] Nishi A.Development of wall-climbing robot[J].Computer and Electrical Engineering,1996,22 (2):123-149.
[3] Gradetsky V, RachkovM, Kalinichenko S, et al. Service robot for cleaning of vertical surfaces [C].In:IARP International Advanced Robotic Programme Service and Personal Robots: Technologies and Applications,Genova,Italy,1997:23-24.
[4] Mel Siegel.Remote and automated inspection: status and prospects[C].In:The First Joint DoD /FAA /NASA Conference on Aging Air-craft,Ogden UT,1997.
[5] Tomoaki Yano,Shinji Numao,Yukio Kitamura.Development of a self contained wall-climbing robot with scanning type suction cups[C].In:Proceeding of the 1998 IEEE /RSJ International Conference on Intelligent Robots and Systems,Victoria,BC, Canada,1998:900-905.
[6] Luk B L,Collie A A,Billingsley J.RobugⅡ:an intelligent wall-climbing robot[C].In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation Sacramento,Clifomia,1991:3442-3447.
[7] Nagakubo A,Hirose S.Walking and running of the quadruped wall-climbing robot[C].In:Proc. IEEE Int Conf on Robotics and Automation,San Diego,CA,USA,1994:1005-1012.
[8] Jun Xiao,Jizhong Xiao,Ning Xi,et al,Fuzzy controller for wall-climbingmicrorobots[J].In: IEEE Transactions on fuzzy systems,2004,12(4):466-480.
[9] Jizhong Xiao,Dulimarta H,Zhen yu Yu,et al.DSP solution for wallclimbermicrorobot control using TMS320LF2407 chip[C].In:Procof the 43 rd IEEE Midwest Symposium on Circuits and Systems,Michigan,USA,2000:1348-1351.
[10] Juan Carlos Grieco,Manuel Prieto,Manuel Armada,et al.A six-legged climbing robot for high payloads[C].In:Proceedings of 1998 IEEE International Conference on Control Applications, Trieste, Italy,1998:446-450.
[11] Menon C,MurphyM,SittiM.Gecko insp ired surface climbing robots[C].In:Proceedings of the IEEE International Conference on Robotics and Biomimetics,Shenyang,China,2004:431-436.
[12] Kathryn A Daltorio,Andrew D Horchler,Stanislav Gorb,et al.A small wall-walking robot with compliant adhesive feet[C].In:2005 IEEE /RSJ International Conference on Intelligent Robots and Systems,Edmonton,Alberta,Canada,2005:4018-4023.
[13]唐宗军等.一种全方位移动爬壁机器人系统设计[J].机器人技术,2006.01
[14]周忆等.一种轻型多足爬壁机器人的设计[J].机床与液压,2006.07
[15]王刚等.一种新型多足仿生机器人步行足关节结构研究[J].制造业信息化,2008.05
[16]桂仲成.多体柔性永磁吸附爬壁机器人[J].机械工程学报,2008.06
[17]张培等.一种新型爬壁机器人机构及运动学研究[J].机器人,2007.01
[18]王巍.曲面幕墙清洁机器人攀爬技术[J].北京航空航天大学学报,2008.01
[19]孙洪等.攀爬蛇形机器人爬树的静态机理研究[J].机器人,2008.03
[20]文怀海等.立式金属罐容积检定爬壁机器人的研制[J].自动化仪表,2007.08
[21]王兴如等.超高压水射流船舶爬壁除锈机器人力学特性分析[J].机床与液压,2008.10,36(10).
[22]张国平等.爬壁机器人真空吸附及运动方式探讨[J].Hydraulics Pneumatics & Seals,2008:14-17
[23]于今,闫军涛,饶冀.一种新型多吸盘壁面清洗机器人模型研究[J].液压与气动. 2007(3).
[24]日本机器人学会编.宗光华等译.机器人技术手册[M].北京:科学出版社,2007.10.
[25]曲以义编.气压伺服系统[M].上海交通大学出版社.1998
[26]杨钢.气动人工肌肉位置伺服系统研究及其应用[博士学位论文],武汉:华中科技大学,2004.9
[27]刘明春.McKibben气动人工肌肉的静动态特性及控制策略研究[硕士学位论文].兰州:兰州理工大学,2009.06
[28]王田苗等.仿壁虎机器人研究综述[J].机器人,2007.05.
[29]谢存禧等.机器人技术及其应用[M].华南理工大学出版社:2005.
[30]黄真等.高等空间机构学[M].高等教育出版社,2006.
[31]陆鑫盛.气动自动化系统的优化设计[M].上海科学技术文献出版社,2000.
[32] Jongung Choi.LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICAL MUSCLES
[33] M.Rachkov,Control of Climbing Robot for Rough Surfaces,Third International Workshop on Robot Motion and Control,2002.09
[34] Hans Dulimarta, R.L. Tummala, Design and Control of Miniature Climbing Robots with Nonholonomic Constraints, Proceedings of the“4”World Congress on Intelligent Control and Automation,2002.07
[35]周延武,宗光华.Cleanbot-Ⅰ擦窗机器人的智能化技术[J ].机器人,2002 ,24 (1):6-11.
[36]汪勇,高层建筑智能擦窗机控制系统的设计[硕士学位论文].北京航空航天大学,2001.03.
[37]孟宪超,王温祖等.一种多吸盘爬壁机器人的研制[J].机械设计.2002.07.
[38]田兰图,杨向东等.油罐检测爬壁机器人结构与控制系统设计[J].机器人.2004.11
[39]徐芸,刘宝生,赵锡芳.自动扫查爬壁机器人结构及控制系统研究[J].控制与检测.2004.08.
[40]谈士力,王建成,苏建良等.球形壁面爬行机器人研制[J].机器人,2002.11
[41]孙锦山,杨庆华,阮健.气动多吸盘爬壁机器人[J].液压与气动,2005.08.
[42]张兴悟,章永华,杨杰等.高机动性小型爬壁机器人的研究[J].机械研究与应用.2007.04.
[43] Akra Nishi Faculty of Engineering Miyazaki Universinty Miyazaki 889-21,JAPAN.A Wall Climbing Robot Using Propulsive Force of Propell.1991 IEEE.320-325
[44] S Galt',BL Luk',DS Cooke2 and AA Collie2.A Tele-Operated Semi-Intelligent Climbing Robot For Nuclear Applications.1997 IEEE.18-123
[45] WHITE,Tim S.THE DESIGN AND OPERATIONAL PERFORMANCE OF A CLIMBING ROBOT USED FOR WELD INSPECTION IN HAZARDOUS ENVIRONMENTS.1998 IEEE. 451-455
[46] BLLuk,GSVirk.CLIMBING AND WALKING ROBOTS FOR HAZARDOUS ENVIRONMENTS.1996 The Institution of Electrical Engineers.Printed and published by the IEE,Savoy Place,London WCPR OBL,UK.1-3
[47] Juan Carlos Grieco",Manuel Prieto,Manuel Armada,Pablo Gonzalez de Santos.A SIX-LEGGECDL IMBING ROBOTF OR IGH PAYLOADS. Proceedings of the 1998 IEEE International Conference on Control Applications Trieste,Italy,1998.09
[48] Author Kouichi Masuzawa,Ken Ichiryu
[49]濮良贵,纪名刚.机械设计[M].高等教育出版社.1999.02,257-261.
[50]徐灏.机械设计手册[M].北京:机械工业出版社,1995.
[51]郑堤,唐可洪.机电一体化设计基础[M].北京:机械工业出版社.1997.