爬壁机器人设计及动力性能研究
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摘要
爬壁机器人是极限作业机器人的一个分支，其目的是代替人类，在核工业、石化企业、建筑行业、消防部门、造船等领域中的危险状态下作业，具有极其广泛的用途和很高的使用价值。自从二十世纪六十年代出现以来，受到人们的广泛关注。本文所研究的尺蠖式爬壁机器人是实现高空壁面的检测、维护的机器人，具有很高的推广应用价值。为了解决其若干关键技术问题，本文开展爬壁机器人设计与动力性能研究，其主要研究内容如下：
研究真空吸附爬壁机器人的整体结构，创造性地提出被动吸附方式，对爬壁机器人的稳定性研究转化为对机器人平面的失稳研究，得出机器人稳定性条件和判定主导失稳形式的规则，从而建立机器人稳定性与真空吸附力之间的定量关系。根据尺蠖式爬壁机器人的运动机理分析，将其等效为特殊的关节式移动机器人，并通过理论研究，建立机器人空间位姿下的动力学和运动学模型，给出作业运动轨迹规划一般方法。
基于尺蠖式爬壁机器人的运动机理研究，提出了直线、内外垂直相交面的作业运动路径规划一般方法，解决了爬壁机器人实现垂直相交面过渡的难题。
设计机器人控制系统软硬件结构，并针对壁面检测作业中存在的姿态偏差，研究提出尺蠖式爬壁机器人的姿态控制算法及其PID姿态控制器。
在上述理论与技术研究基础上，论文研制了尺蠖式爬壁机器人样机，并进行直线运动性能实验研究，证明样机系统具有负载能力大、运动稳定可靠、定位精度高、自动化程度高等优点，大幅度提高了壁面检测效率。
A wall-climbing robot is the robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked word wide attention ever since it was born in the 1960s. A wail-climbing robot based on canker-worm discussed in this thesis is the robot that inspects and maintenance the wall surface in the upper air. In order to solve the key technical problems, the design and performance of wall-climbing robot are studied in this dissertation. The primary matters are as follows.
This dissertation studies the general structure of the adsorption of vacuum wail-climbing robot, and presents the passive absorption creatively, and the stability problem of the robot can be transformed into the instabilities of the robot plane. The stability conditions of the robot and the judging rules for the leading instability are discussed. The quantitative relation between the stability of the robot and the attracting force of vacuum adsorption is given.
After analyzing of the motion principle of canker-worm wall-climbing robots, the robot is equated with a special joint mobile robot. Through theoretic research, the general dynamic model and kinematic model are proposed, and the general method for trajectory planning is presented.
Based on the motion principle of canker-worm wail-climbing robot, this paper proposes the trajectory planning of scheduling motion of line and vertical surface of intersection, so as to solve the problem of the wall-climbing robot transient in the vertical surface of intersection.
This dissertation accomplishes the hardware and software designing of the control system. Considering the practical attitude errors in the robot's wall surface testing tasks, we study the attitude control algorithms of canker-worm wail-climbing robots and propose a PID controller.
Based on all the design and performance studies above, this dissertation develops the model machine of the canker-worm wail-climbing robot, and makes experiments straightly on its motion performance. These experiments indicate that the robot testing system has large load capability, reliable motion stability, high localization precision and highly automatic level. It greatly improves the efficiency of wall surface testing.
研究真空吸附爬壁机器人的整体结构，创造性地提出被动吸附方式，对爬壁机器人的稳定性研究转化为对机器人平面的失稳研究，得出机器人稳定性条件和判定主导失稳形式的规则，从而建立机器人稳定性与真空吸附力之间的定量关系。根据尺蠖式爬壁机器人的运动机理分析，将其等效为特殊的关节式移动机器人，并通过理论研究，建立机器人空间位姿下的动力学和运动学模型，给出作业运动轨迹规划一般方法。
基于尺蠖式爬壁机器人的运动机理研究，提出了直线、内外垂直相交面的作业运动路径规划一般方法，解决了爬壁机器人实现垂直相交面过渡的难题。
设计机器人控制系统软硬件结构，并针对壁面检测作业中存在的姿态偏差，研究提出尺蠖式爬壁机器人的姿态控制算法及其PID姿态控制器。
在上述理论与技术研究基础上，论文研制了尺蠖式爬壁机器人样机，并进行直线运动性能实验研究，证明样机系统具有负载能力大、运动稳定可靠、定位精度高、自动化程度高等优点，大幅度提高了壁面检测效率。
A wall-climbing robot is the robots for limited operation, aiming to take the place of human beings to work under hazardous environments such as nuclear power plants, petrochemical enterprises, architecture, fire fighting and shipbuilding etc. It has a wide application and high practical value. Wall-climbing robots have greatly provoked word wide attention ever since it was born in the 1960s. A wail-climbing robot based on canker-worm discussed in this thesis is the robot that inspects and maintenance the wall surface in the upper air. In order to solve the key technical problems, the design and performance of wall-climbing robot are studied in this dissertation. The primary matters are as follows.
This dissertation studies the general structure of the adsorption of vacuum wail-climbing robot, and presents the passive absorption creatively, and the stability problem of the robot can be transformed into the instabilities of the robot plane. The stability conditions of the robot and the judging rules for the leading instability are discussed. The quantitative relation between the stability of the robot and the attracting force of vacuum adsorption is given.
After analyzing of the motion principle of canker-worm wall-climbing robots, the robot is equated with a special joint mobile robot. Through theoretic research, the general dynamic model and kinematic model are proposed, and the general method for trajectory planning is presented.
Based on the motion principle of canker-worm wail-climbing robot, this paper proposes the trajectory planning of scheduling motion of line and vertical surface of intersection, so as to solve the problem of the wall-climbing robot transient in the vertical surface of intersection.
This dissertation accomplishes the hardware and software designing of the control system. Considering the practical attitude errors in the robot's wall surface testing tasks, we study the attitude control algorithms of canker-worm wail-climbing robots and propose a PID controller.
Based on all the design and performance studies above, this dissertation develops the model machine of the canker-worm wail-climbing robot, and makes experiments straightly on its motion performance. These experiments indicate that the robot testing system has large load capability, reliable motion stability, high localization precision and highly automatic level. It greatly improves the efficiency of wall surface testing.
引文
[1] 柳春辉，赵言正，王炎．爬壁机器人技术及应用．机器人技术与应用．1996．2：4-7
[2] 徐典国，王卫等．日本壁面爬壁机器人技术发展概况及我们的几点建议．机器人，1989，3(4)：53-58
[3] 潘沛霖，韩秀琴等旧本磁吸附爬壁机器人的研究现状．机器人．1994，16(6)：379-382
[4] L. Briones, P. Bustamante, M.A. Sema. Wall-climbing Robot for Inspection in Nuclear Power Plants. Proc. IEEE Int. Conf. on Robotics and Automation. 1994:1409-1415
[5] A. Fujita, M. Tsuge. Develepment of Inspection Robot for Spherical Gas Storage Tanks. Proc. of the 16" Int. Sym. on Industrial Robots. 1986:1185-1194
[6] 刘海波，武学民．国外建筑业的机器人化—国外建筑机器人发展概述．机器人，1994，16(2)：119-128
[7] 田政．磁力吸附式船体喷漆装置．世界发明，1984，7：13
[8] Shuji Asomi. Robot in Japan:Present and Future. IEEE Robotics＆Auatomation Magazine, June 1994:1104-1112
[9] 黄善钧．壁面移动机器人的研究．哈工大七十周年校庆增刊，1990：20-24
[10] 张越．国内外壁面移动式机器人发展概况．唐山工程技术学院学报，1994 16(1)：27-31
[11] Nishi A. Wall climbing robot using propulsive force of propeller. Fifth Int. Conf. on Advanced Robotics--' 91/CAR, 1991:320-325
[12] Hirose S, Nagakubo A, Toyatna R. Machine that can walk and climb on floors, walls and ceilings. Fifth Int. Conf. on Advanced Robotics--' 91/CAR, 1991:753-758
[13] Hirose S. A wall-climbing robot using permanent magnet disks. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1992:2074-2079
[14] Ikeda K, Nozaki T, Shimada S. Development of a self-contained wall-climbing robot. Journal of Mechanical Engineering Laboratory, 1992, 46(2):128-137
[15] Fukuda T, Nishibori K, Matsuura H, et al. A study on wall surface mobile robots (2nd report, mechanism of model with variable structural crawler and running experimental Results). Trans. of the Japan Society of Mechanical Engineering(C),1994, 60(569):211-217
[16] Nishi A. Development ofwall-climbingrobots. Computers&Engineering, 1996,22(2):123-149
[17] Tomoaki Y, Shinji N, Yukio K. Development of a self-contained wall climbing robot with scanning type suction cups. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1998:249-254
[18] 潘佩霖，韩秀琴，赵言正等．日本磁吸附爬壁机器人的研究现状．机器人，199416(6)：379-382
[19] 东光，宕明．非结构化环境中的爬壁机器人．机器人情报，1992(4)：28-29
[20] Brown C C, Huissoon J P. Temporal gait control of a quadruped robot. Robotics and Autonomous Systems, 2000, 30(4):305-314
[21] Luk B L, Collie A A, Billingsley J. ROBUGⅡ: An intelligent wall climbing robot. Proc. IEEE Int. Conf. on Robotics and Automation, 1991:2342-2347
[22] Billingsley J, Collie A A, Luk B L. A climbing robot with minimal structrue. IEE Conf. Publication, 1991, 2(332):813-815
[23] Luk B L, Collie A A, Piefort V, et al. ROBUG Ⅲ: A tele-operated climbing and walking Robot. IEE Conf. Publication, 1996, 1(427):347-352
[24] Skibniewski M. Robotics in civil engineering. New York: Van Nostrand Reinhold, 1988
[25] La Rosa G, Messina M, Muscato G, et al. A low-cost lightweight climbing robot for the inspection of vertical surfaces. Mechatronics, 2002, 12(1):71-96
[26] Longo D, Muscato G. SCID--A non-actuated robot for walls exploration. Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2001:874-879
[27] Grieco J C, Prieto M, Armada M, et al. A six-legged climbing robot for high payloads. Proc. IEEE Conf. on Control Applications, 1998:446-450
[28] Savall J, Avello A, Briones L. Two compact robots for remote inspection of hazardous areas in nuclear power plants. Proc. IEEE Int. Conf. on Robotics and Automation, 1999:1993-1998
[29] Simmy G. Mobile systems. Industrial Robot, 1993, 20(5):15-17
[30] Choi H R, Ryew S M, Kang T H, et al. A wall climbing robot with closed link mechanism. Proc. IEEE Int. Conf. on Intelligent Robots and Systems, 2000:2006-2011
[31] Kang T, Kim H, Son T, et al. Design of quadruped walking and climbing robot. Proc. IEEE Int. Conf. on Intelligent Robots and Systems, 2003:619-624
[32] 刘淑霞，王炎，徐殿国等．爬壁机器人技术的应用．机器人，1999 21(2)：148-155
[33] 马培荪，陈佳品，俞翔等．油罐容积检测用爬壁机器人的研制．上海交通大学学报，199630(11)：159-164
[34] 黄维纲，王显正．两足步行爬壁机器人控制系统的研究．传动技术，1998(1)：11-15，10
[35] Ⅱ劲松，张江红，罗振壁等．u}Ⅰ足步行机的地一壁过渡规划．机械工程学报，1994，30(4)：56—61
[36] 郑浩峻，泪劲松，陈恳．步行机相交面运动规划．清华大学学报(自然科学版)，1999，39(2)：49-53
[37] 王军波，陈强，孙振国．爬壁机器人变磁力吸附单元的优化设计．清华大学学报(自然科学版)，2003 43(2)：214-217，226
[38] 宗光华．高层建筑擦窗机器人．机器人技术及应用，1998(2)：20
[39] 王巍．灵巧擦窗机器人相关问题研究：(博士学位论文)．北京：北京航空航人大学，1993
[40] 钱晋武，龚振邦，张启先．六足爬壁机器人过渡行走运动规划．上海大学学报(自然科学版)，19962(3)：328—334
[41] 钱晋武，罗怡，章亚男等．考虑实际约束的机器人地壁过渡运动研究．应用科学学报，199917(1)：64-69
[42] 钱晋武，吴惠兴，章亚男等．一种机器人新型足一掌机构研究和设计．机器人，1997(3)：139-142
[43] 秦岚，张智海，蔡秀梅等．微小步行爬壁机器人的电磁直接驱动方式．重庆大学学报，200124(3)：65-67，113
[44] 张华，陈茂华，刘南生等．履带式智能弧焊机器人系统的研制．机器人技术与应用，2002(1)：13-16
[45] 潘焕焕，赵言正，高学山等，水冷壁爬壁机器人的本体结构设计．机械设计与制造工程，200029(5)：7-10
[46] 田兰图．油罐检测爬壁机器人技术及系统研究：(硕士学位论文)．北京：清华大学，2004
[47] 肖立，佟仕忠，丁启敏等．爬壁机器人的现状与发展．自动化博览，2004(1)：81-84
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[50] 郑阿奇．Visual Basic实用教程．北京：电子工业出版社，2000：59-81
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[52] 蔡自兴．机器人学．北京：清华大学出版社，2000：203-238
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[54] 殷际英，何广平．关节型机器人．北京：化学工业出版社，2003：60-64
[55] 欧阳黎明．MATLAB控制系统设计．北京：国防工业出版利，2001：67-84
[2] 徐典国，王卫等．日本壁面爬壁机器人技术发展概况及我们的几点建议．机器人，1989，3(4)：53-58
[3] 潘沛霖，韩秀琴等旧本磁吸附爬壁机器人的研究现状．机器人．1994，16(6)：379-382
[4] L. Briones, P. Bustamante, M.A. Sema. Wall-climbing Robot for Inspection in Nuclear Power Plants. Proc. IEEE Int. Conf. on Robotics and Automation. 1994:1409-1415
[5] A. Fujita, M. Tsuge. Develepment of Inspection Robot for Spherical Gas Storage Tanks. Proc. of the 16" Int. Sym. on Industrial Robots. 1986:1185-1194
[6] 刘海波，武学民．国外建筑业的机器人化—国外建筑机器人发展概述．机器人，1994，16(2)：119-128
[7] 田政．磁力吸附式船体喷漆装置．世界发明，1984，7：13
[8] Shuji Asomi. Robot in Japan:Present and Future. IEEE Robotics＆Auatomation Magazine, June 1994:1104-1112
[9] 黄善钧．壁面移动机器人的研究．哈工大七十周年校庆增刊，1990：20-24
[10] 张越．国内外壁面移动式机器人发展概况．唐山工程技术学院学报，1994 16(1)：27-31
[11] Nishi A. Wall climbing robot using propulsive force of propeller. Fifth Int. Conf. on Advanced Robotics--' 91/CAR, 1991:320-325
[12] Hirose S, Nagakubo A, Toyatna R. Machine that can walk and climb on floors, walls and ceilings. Fifth Int. Conf. on Advanced Robotics--' 91/CAR, 1991:753-758
[13] Hirose S. A wall-climbing robot using permanent magnet disks. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1992:2074-2079
[14] Ikeda K, Nozaki T, Shimada S. Development of a self-contained wall-climbing robot. Journal of Mechanical Engineering Laboratory, 1992, 46(2):128-137
[15] Fukuda T, Nishibori K, Matsuura H, et al. A study on wall surface mobile robots (2nd report, mechanism of model with variable structural crawler and running experimental Results). Trans. of the Japan Society of Mechanical Engineering(C),1994, 60(569):211-217
[16] Nishi A. Development ofwall-climbingrobots. Computers&Engineering, 1996,22(2):123-149
[17] Tomoaki Y, Shinji N, Yukio K. Development of a self-contained wall climbing robot with scanning type suction cups. Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1998:249-254
[18] 潘佩霖，韩秀琴，赵言正等．日本磁吸附爬壁机器人的研究现状．机器人，199416(6)：379-382
[19] 东光，宕明．非结构化环境中的爬壁机器人．机器人情报，1992(4)：28-29
[20] Brown C C, Huissoon J P. Temporal gait control of a quadruped robot. Robotics and Autonomous Systems, 2000, 30(4):305-314
[21] Luk B L, Collie A A, Billingsley J. ROBUGⅡ: An intelligent wall climbing robot. Proc. IEEE Int. Conf. on Robotics and Automation, 1991:2342-2347
[22] Billingsley J, Collie A A, Luk B L. A climbing robot with minimal structrue. IEE Conf. Publication, 1991, 2(332):813-815
[23] Luk B L, Collie A A, Piefort V, et al. ROBUG Ⅲ: A tele-operated climbing and walking Robot. IEE Conf. Publication, 1996, 1(427):347-352
[24] Skibniewski M. Robotics in civil engineering. New York: Van Nostrand Reinhold, 1988
[25] La Rosa G, Messina M, Muscato G, et al. A low-cost lightweight climbing robot for the inspection of vertical surfaces. Mechatronics, 2002, 12(1):71-96
[26] Longo D, Muscato G. SCID--A non-actuated robot for walls exploration. Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2001:874-879
[27] Grieco J C, Prieto M, Armada M, et al. A six-legged climbing robot for high payloads. Proc. IEEE Conf. on Control Applications, 1998:446-450
[28] Savall J, Avello A, Briones L. Two compact robots for remote inspection of hazardous areas in nuclear power plants. Proc. IEEE Int. Conf. on Robotics and Automation, 1999:1993-1998
[29] Simmy G. Mobile systems. Industrial Robot, 1993, 20(5):15-17
[30] Choi H R, Ryew S M, Kang T H, et al. A wall climbing robot with closed link mechanism. Proc. IEEE Int. Conf. on Intelligent Robots and Systems, 2000:2006-2011
[31] Kang T, Kim H, Son T, et al. Design of quadruped walking and climbing robot. Proc. IEEE Int. Conf. on Intelligent Robots and Systems, 2003:619-624
[32] 刘淑霞，王炎，徐殿国等．爬壁机器人技术的应用．机器人，1999 21(2)：148-155
[33] 马培荪，陈佳品，俞翔等．油罐容积检测用爬壁机器人的研制．上海交通大学学报，199630(11)：159-164
[34] 黄维纲，王显正．两足步行爬壁机器人控制系统的研究．传动技术，1998(1)：11-15，10
[35] Ⅱ劲松，张江红，罗振壁等．u}Ⅰ足步行机的地一壁过渡规划．机械工程学报，1994，30(4)：56—61
[36] 郑浩峻，泪劲松，陈恳．步行机相交面运动规划．清华大学学报(自然科学版)，1999，39(2)：49-53
[37] 王军波，陈强，孙振国．爬壁机器人变磁力吸附单元的优化设计．清华大学学报(自然科学版)，2003 43(2)：214-217，226
[38] 宗光华．高层建筑擦窗机器人．机器人技术及应用，1998(2)：20
[39] 王巍．灵巧擦窗机器人相关问题研究：(博士学位论文)．北京：北京航空航人大学，1993
[40] 钱晋武，龚振邦，张启先．六足爬壁机器人过渡行走运动规划．上海大学学报(自然科学版)，19962(3)：328—334
[41] 钱晋武，罗怡，章亚男等．考虑实际约束的机器人地壁过渡运动研究．应用科学学报，199917(1)：64-69
[42] 钱晋武，吴惠兴，章亚男等．一种机器人新型足一掌机构研究和设计．机器人，1997(3)：139-142
[43] 秦岚，张智海，蔡秀梅等．微小步行爬壁机器人的电磁直接驱动方式．重庆大学学报，200124(3)：65-67，113
[44] 张华，陈茂华，刘南生等．履带式智能弧焊机器人系统的研制．机器人技术与应用，2002(1)：13-16
[45] 潘焕焕，赵言正，高学山等，水冷壁爬壁机器人的本体结构设计．机械设计与制造工程，200029(5)：7-10
[46] 田兰图．油罐检测爬壁机器人技术及系统研究：(硕士学位论文)．北京：清华大学，2004
[47] 肖立，佟仕忠，丁启敏等．爬壁机器人的现状与发展．自动化博览，2004(1)：81-84
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