【摘要】 为了解决履带式爬壁机器人壁面移动准确性低的问题，通过建立机器人在壁面上的动力学模型，提出一种基于履带滑转率优化的机器人速度补偿方法。首先，为了深入分析爬壁机器人的运动机理，基于旋量理论建立了适用于不同壁面倾角环境的爬壁机器人动力学模型；然后，引入履带剪切理论，根据机器人移动过程中左右履带的滑转率，推导出实际移动时电机所需的纠正转速，实现速度补偿与轨迹纠偏；之后，通过MATLAB仿真，得到了机器人在不同位姿下的最小安全吸附力以及吸附过程中滑移率随吸附力的变化趋势；最后，根据现有试验样机进行了实验验证。结果表明：引入滑转率的动力学模型能够更贴合机器人实际移动时的位姿变化，引入速度补偿后机器人姿态纠正超过61%。可见基于滑转率的速度补偿方法对于移动精度和运行效率都有显著提升，并为改进爬壁机器人的尺寸设计和前馈补偿运动控制提供参考。更多还原

【Abstract】 In order to solve the issue of low wall locomotion accuracy of the tracked wall climbing robots, a dynamic model of the robot on the wall surface was used to investigate a speed compensation method based on the optimization of the track slip ratio. Firstly, to further analyze the motion mechanisms of the wall-climbing robot, a steering dynamic model suitable for various wall inclination angles was established based on screw theory. Subsequently, the track shear theory was introduced, and the corrected motor speed required during actual locomotion was derived according to the slip rates of the left and right tracks, thereby achieving speed compensation and trajectory correction. In addition, MATLAB simulations were conducted to determine the minimum safe adsorption force for the robot under different postures, as well as the variation trend of the slip rate with adsorption force during the adsorption process. Finally, experimental validation was carried out using an existing prototype. The results show that the dynamic model incorporating the slip ratio can more closely match the actual pose changes of the robot during movement. After introducing speed compensation, the robot’s posture correction exceeds 61%. It is concluded that the speed compensation method based on the slip ratio significantly enhances both movement accuracy and operational efficiency, and provides valuable insights for improving the wall-climbing robot’s size design and feedforward compensation motion control.更多还原