共查询到20条相似文献,搜索用时 109 毫秒
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在核电站蒸汽发生器复杂环境下,为准确控制机器人完成管板检测任务,提出了一种基于STM8处理器的爬壁机器人运动控制方法;针对机器人两个不同轴线驱动轮的结构特点,运用运动学理论建立了机器人运动方程,分析了机器人的运动特性;设计了爬壁机器人硬件控制电路,为提高机器人的控制精度,采用了位置环,速度环和电流环三环PID软件控制策略;最后,对此控制方法进行了相关实验验证;实验结果表明,爬壁机器人控制电路设计合理可靠,三环PID算法实现了较好的运动效果,满足设计要求. 相似文献
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陈巧 《计算机测量与控制》2023,31(2):135-140
壁面吸附是爬壁机器人的基本功能之一,其吸附程度直接影响爬壁机器人的稳定性和移动速度;为此,设计了基于DSP技术的爬壁机器人吸附控制系统;选择爬壁机器人传感器装置,加设DSP数字信号处理器,设计爬壁机器人吸附控制器;在硬件结构的支持下,根据爬壁机器人的组成结构和工作原理,构建相应的数学模型;在该模型下,利用DSP技术计算爬壁机器人吸附力;通过爬壁机器人在壁面环境下的受力分析结果,确定爬壁机器人安全吸附条件;以吸附控制器作为执行机构,实现爬壁机器人的吸附控制;选择负压爬壁机器人作为测试样机,通过系统测试表明,在瓷砖、木板、玻璃三种壁面环境下,与两个对比系统相比,应用此次设计系统得出爬壁机器人吸附力的控制误差降低了2.04 N,倾覆风险系数降低了0.29,具有较好的吸附控制效果。 相似文献
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湿吸附机理及其在仿生爬壁机器人中的应用 总被引:1,自引:0,他引:1
提出一种新的基于湿吸附机理的仿生爬壁机器人.首先讨论湿吸附模型及吸附力的控制方法,对一种
基于硫化硅橡胶(聚合物)的仿生足垫的湿吸附力进行测试,由此验证足垫与壁面间的液体薄膜对吸附力的积极影
响.然后设计一种实验研究用的轮爪式仿生爬壁机器人,并对其进行静力学分析.最后对所设计的机器人进行爬壁
试验.结果表明,液体薄膜可以有效提高足垫吸附力,所研制的湿吸附机器人可吸附于约85度的壁面,可成功爬行
于坡度约65度的玻璃壁面,一定程度上验证了湿吸附机理爬壁机器人的可行性. 相似文献
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为实现在不同环境的壁面上自由爬行,设计了应用仿壁虎微纳米粘附阵列的爬壁机器人,建立了机器人的动力学模型及足部与壁面之间的接触模型,并利用机械系统动力学软件ADAMS的仿真功能,对机器人沿垂直壁面爬行的运动特性进行了仿真.利用ADAMS的后处理模块的分析功能,重点研究了在一个运动周期内,模型整体质心的位移、电机转矩以及足部与壁面之间的接触力随时间的变化情况.仿真结果表明该仿壁虎爬壁机器人能够以约26mm/s的速度沿着垂直的壁面平稳地运动,不存在波动和偏离.这为下一步研制仿壁虎爬壁机器人的物理样机提供了理论指导,也为其他仿生机器人的研究提供了参考. 相似文献
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吸附行走机构是各种用途爬壁机器人的核心部件,机构的吸附可靠性和行走灵活性是影响爬壁机器人的重要因素。首先总结分析了吸附行走机构工作原理及设计的关键点,针对吸附行走机构基本设计要求,介绍了一种液压控制的重载爬壁吸附行走机构,阐述了重载爬壁吸附行走机构的永磁吸附履带机构、动力驱动单元等组成部分设计和技术参数,通过对其受力分析得出了重载吸附行走机构动力驱动单元的关键动力参数,并介绍了配套的液压系统与控制系统的功能元件选型和控制模块设计,在不同的转向半径和吸附对象上进行了运行试验,分析了重载吸附行走机构转向能力与液压动力的关系,研究吸附对象厚度参数对重载吸附行走机构吸附能力的影响,经过试验分析表明,设计的重载爬壁吸附行走机构具有较好的稳定性、液压控制吸附行走机构的重载负载能力强。 相似文献
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《Advanced Robotics》2013,27(1-2):197-218
The paper presents a compact omnidirectional permanent-magnetic wheeled wall-climbing microrobot. A millimeter-sized axial flux electromagnetic micromotor based on MEMS technology has been specially fabricated for the microrobot and its size is 6.8 mm × 7.8 mm × 3.9 mm. A novel permanent-magnetic wheel is designed, which is directly integrated with the stators and rotor of the electromagnetic micromotor. The omnidirectional wall-climbing mechanism is realized by a set of steering gears and three standard permanent-magnetic wheels. By static and dynamic force analysis of the microrobot, the required magnetic force and the required torques for its translational and steering movements are derived. To reduce the unnecessary torque consumption of the microrobot, its structural parameters are optimized in combination with its design constraints by ANSOFT and Pro/Engineer simulation. A prototype of the proposed microrobot with the maximum designed load capacity of 3 g is developed, whose size is 26 mm in diameter and 16.4 mm in height. Experimental and simulation results demonstrate the feasibility of these concepts. 相似文献
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《Advanced Robotics》2013,27(12):1369-1391
This paper presents an omni-directional mobile microrobot for micro-assembly in a micro-factory. A novel structure is designed for omni-directional movement with three normal wheels. The millimeter-sized microrobot is actuated by four electromagnetic micromotors whose size is 3.1 mm × 3.1 mm × 1.4 mm. Three of the micromotors are for translation and the other one is for steering. The micromotor rotors are designed as the wheels to reduce the microrobot volume. A piezoelectric micro-gripper is fabricated for grasping micro-parts. The corresponding kinematics matrix is analyzed to prove the omni-directional mobility. A control system composed of two CCD cameras, a host computer and circuit board is designed. The macro camera is for a global view and the micro camera is for local supervision. Unique location methods are proposed for different scenarios. A microstep control approach for the micromotors is presented to satisfy the requirement of high positioning accuracy. The experiment demonstrates the mobility of the microrobot and the validity of the control system. 相似文献
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本文介绍了采用2毫米电磁型微马达作为驱动器的移动微型机器人.其整体尺寸为10mm×6mm
×5mm.作为微型机器人的核心部件,微马达采用电磁型轴向磁通结构以获得较大的输出力
矩.该马达的设计创新还在于其控制上可以在不同的阶段采用同步电机和步进电机两种
控制方式.微型机器人的控制器通过超细直径的柔性导线与机械结构相连,创新的结构设计
使得机器人的转弯半径非常小,将导线连接的影响降至极小.通过算法可以控制该机器人前
进、后退、灵活转弯.本文详细论述了该微机器人的设计、制作、结构部件和性能. 相似文献
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《Advanced Robotics》2013,27(1):55-71
This paper proposes a control method for wheels to pass over rough terrain. In our previous work, we have developed a holonomic mobile mechanism capable of running over steps. The mechanism realizes omni-directional motion on a flat floor and passes over uneven ground in forward and backward directions. The vehicle has seven special wheels with cylindrical free rollers and two passive body axes that can adapt to rough terrain. Seven actuators are located in each wheel; therefore, our vehicle system requires the rotation velocity of each wheel to be coordinated. However, it is difficult to keep such coordination among the wheels — as the vehicle passes over the step, the load applied to the wheel tends to heavy and irregular. Therefore, we propose a new control system for synchronization among the wheels. In this paper, the following two topics are discussed: the load adjustment so as not to exceed the maximum torque of the actuator in some of the wheels and keeping the balance of rotation velocity among the wheels. Our novel control method adjusts the output value by referring to the state of the other wheels. The performance of our system is investigated by means of computer simulations and experiments using our prototype vehicle. 相似文献
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Cricket-based robots 总被引:1,自引:0,他引:1
Birch M.C. Quinn R.D. Hahm G. Phillips S.M. Drennan B.T. Fife A.J. Beer R.D. Xinyu Yu Garverick S.L. Laksanacharoen S. Pollack A.J. Ritzmann R.E. 《Robotics & Automation Magazine, IEEE》2002,9(4):20-30
This article describes the development of an autonomous hybrid microrobot that uses legs for propulsion and support of the rear half of the body and a pair of wheels for support of the front half. McKibben artificial muscles actuate the legs, and compressed air is generated by an onboard power plant. Control is also onboard in the form of a PIC microcontroller, from Microchip Technology Inc., that controls the actuators through four three-way valves that are each made up of a pair of microelectromechanical system devices. Its motion resembles that of a cricket. 相似文献
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Mirosaw 《Robotics and Autonomous Systems》2009,57(9):889-900
This study addresses the problem of controlling an omni-directional vehicle with both state and control dependent constraints. The task of the vehicle is to attain its desired final position given in the task space. The control constraints resulting from the physical abilities of actuators driving the vehicle wheels are also taken into account during the robot movement. The problem of collision avoidance is solved here based on an exterior penalty function approach which results in smooth vehicle velocities near obstacles. Provided that, a solution to the aforementioned vehicle task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for the omni-directional vehicle operating in both a constraint-free task space and task space including obstacles, illustrate the performance of the proposed controllers. 相似文献