Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot
Author:
Zhang Dong,Li Zhihao,Jia Pei,Zheng Yueshuo,Liu Shixin,Wei Jun,Zhang Minglu,Li Manhong
Abstract
In recent years, many wall-climbing robots have been developed in the field of petrochemical storage tank maintenance. However, it is difficult for most of them to be widely used due to common problems such as poor adsorption capacity, poor adaptation to elevation, and low trajectory tracking accuracy. In order to solve the problem of the robot not being able to achieve high-precision operation on curved surfaces, a new wall-climbing robot system is designed. Based on the magnetic wheel adsorption method, a passive adaptive motion mechanism that can adapt to walls with different curvatures is proposed. In order to improve the trajectory tracking accuracy of the wall-climbing robot, the kinematic model of the wall-climbing robot is simplified, a velocity compensation controller is designed, and the stability of the controller is proved by introducing the Lyapunov equation. Through experiments, the controller designed in this paper is compared with the conventional controller to verify the effectiveness and superiority of the controller. The experimental results show that the robot can move safely and stably on curved surfaces, with improved tracking accuracy and reduced trajectory deviation caused by response time lag, and meets the maintenance operation requirements of wall-climbing robots.
Funder
National Natural Science Foundation of China
Science and Technology Development Fund Project on Central Government Guiding Local Government
Natural Science Foundation of Hebei Province
State Key Laboratory of Reliability and Intelligence of Electrical Equipment
Subject
Physics and Astronomy (miscellaneous),General Mathematics,Chemistry (miscellaneous),Computer Science (miscellaneous)
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