摘要
针对多足爬壁机器人高空作业时的安全性问题,引入安全系数概念,提出基于安全性多足爬壁机器人足力优化分配方法。在建立关节驱动力和足底接触力转换基础上,推导多足爬壁机器人的动力学模型,确定机器人运动学、动力学约束条件,用粒子群算法求解在能耗最优目标下安全系数与吸盘吸附力的关系。该方法有效减少优化变量数量,同时还反映了机器人安全系数与未知环境(主要指真空吸盘吸附力)的关系,提高了机器人的环境适应能力。最后通过实例验证了该方法的可行性与有效性。
Considering the safety of multi-legged wall-climbing robot （MWR） in its aloft work, a security-based feet-force optimal distribution method for MWR was proposed by raising a idea of security factor. Firstly, based on the switch of joint driving force and plantar contact force, a feet force optimization model of MWR was built, and robot＇s kinematic and dynamic constraints were confirmed too. This method calculated the relationship of security factor and adsorption forces by using PSO algorithm objective to minimize energy consume. The method mentioned can reduce the number of optimization variables, and it represents the relationship between the security factor and the unknown environment, so as to improve MWR＇s surrounding adaptation ability. At last, a simulation result proves the validity of such a method.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2013年第5期921-924,930,共5页
Journal of System Simulation
基金
中央高校基本科研业务费资助(2009ZM192)
2011年度西部交通建设科技项目重大科技专项"新一代公路基础设施维护关键技术
重大装备与示范:基于机器人平台的桥梁沿程扫描式无损检测技术及系统装备研发"支持
关键词
多足爬壁机器人
安全系数
足力分配
粒子群
multi-legged wall-climbing robot
security factor
feet-force distribution
PSO
