【摘要】 为解决高空作业的危险性问题,设计并实现了一种小型自适应翻转攀爬机器人。机器人由5个连杆和4个关节组成,通过加速度传感器获取关键连杆的位置,并按照设定距离实现跨步、翻转动作。提出了翻转机器人的翻转控制算法,并利用PID(Proportional-Integral-Derivative)闭环控制算法提高翻转机器人的攀爬动作精度。通过实验可知,翻转机器人的单次跨步平均耗时为29 s,跨步距离最大相对误差为4. 5%,平均相对误差为2. 1%,最大负重3. 79 kg,可实现稳定的连续攀爬。更多还原

【Abstract】 In order to solve the danger problem of working at height,a small self-adaptive flip climbing robot is designed and implemented,which consists of five links and four joints. The position of the key links are obtained by acceleration sensor. A control algorithm of the flip robot is proposed,and the PID( Proportional-IntegralDerivative) closed-loop control algorithm is used to improve the climbing accuracy of the flip robot. The performance results of the robot are as follows: the average time of single step is 29 s,the maximum relative error of step distance is 4. 5%,the average relative error is 2. 1%,and the maximum load is 3. 79 kg. Therefore,the robot can realize stable and continuous climbing.更多还原