仿尺蠖多模式爬壁机器人设计与控制方法研究

对于高层建筑清洁、大型化工罐体焊接与检测以及管道、隧道等狭小空间的安全巡查，传统方式为人工操作，存在安全隐患及效率低下等缺点，针对这些问题，提出了一种爬壁机器人设计方案。通过研究自然界尺蠖类生物的壁面攀爬机理，结合仿生技术，利用真空吸附和爪刺抓附两种附着技术，研发了一种仿尺蠖多模式爬壁机器人。首先在静态条件下，采用D-H参数法建立了机器人运动学数学模型，求解了机器人运动学的正、逆解，然后进行了基于极坐标理论的机器人控制方法研究，分析了了步态控制策略，并基于嵌入式控制器搭建了实际样机的控制系统，进行了功能性测试，验证了爬壁机器人的运动学模型的正确性和步态控制方法的平稳性，为双足类仿生机器人进一步研究提供了参考。

Research on the Design and Control method of a Multi-mode Inchworm-like Wall-climbing Robot

For the cleaning of high-rise buildings, welding and testing of large chemical tanks and safety inspection of narrow Spaces such as pipelines and tunnels, the traditional way is manual operation, which has disadvantages such as hidden dangers and low efficiency. To solve these problems, a design scheme of wall-climbing robot is proposed. By studying the wall-climbing mechanism of natural inchworm organisms and combining with bionic technology, a multi-mode wall-climbing robot imitating inchworm is developed by using two technologies of vacuum adsorption and claw adhesion. Firstly, under static conditions, the mathematical model of the robot is established by using D-H parameter method, and the forward and inverse solutions of robot kinematics are solved. And then the control method of the robot is studied based on the polar coordinate theory, and the gait control strategy is analyzed. The control system of the actual prototype is built based on the embedded controller, and the functional test is carried out. Experiments verify the correctness of the kinematics model of the wall-climbing robot and the smoothness of the gait control method, which provide a reference for the further research of bipedal bionic robots.