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浙江大学学报(工学版)
浙江大学学报(工学版)  2021, Vol. 55 Issue (12): 2286-2297    DOI: 10.3785/j.issn.1008-973X.2021.12.008
机械工程     
管道内壁四足爬壁机器人的运动学与步态规划
李琳1(),薛泽浩1,蔡蒂2,张铁1,*()
1. 华南理工大学 机械与汽车工程学院，广东 广州 510641
2. 广州供电局有限公司，广东 广州 510620
Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall
Lin LI1(),Ze-hao XUE1,Di CAI2,Tie ZHANG1,*()
1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China
2. Guangzhou Power Supply Bureau Limited Company, Guangzhou 510620, China
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摘要：

研究用于检测气体绝缘金属封闭开关（GIS）内部的负压吸附管道内壁四足爬壁机器人. 分别对机器人的腿部和机身进行运动学分析，采用改进的牛顿迭代法解决机身正运动学求解困难的问题. 对机器人沿管道轴向和圆周方向的爬壁运动进行步态规划，提出运动过程零冲击的轨迹规划方法. 使用Adams进行运动仿真，并在四足爬壁机器人样机上进行水平和垂直管道的全方位爬壁实验. 结果表明：机器人的运动轨迹与所规划的步态一致，运动过程中速度与加速度无突变，运动平稳，无明显冲击，运动学模型的正确性和所规划步态的合理性得到验证. 在GIS管道的实际检测应用中，实现机器人在不同工况下的平稳爬壁运动与检测.
关键词： 管道机器人;  四足爬壁机器人;  运动学;  步态分析;  轨迹规划    
Abstract:

A wall-climbing quadruped robot for pipeline inner wall with negative pressure adsorption was investigated, which was used to detect the inside of gas insulated switchgear (GIS). The kinematics of the legs and body of the robot was analyzed, and an improved Newton iteration method was used to solve the complex problem of the body’s forward kinematics. The gait planning of the robot climbing along the axial and circumferential direction of the pipeline was carried out, and a zero-impact trajectory planning method was proposed. Adams was applied for motion simulation, and the omnidirectional wall climbing experiments of horizontal and vertical pipelines were carried out with the robot prototype. Results showed that the robot’s trajectory was consistent with the planned gait, and there was no sudden change in velocity and acceleration during the movement. The movement process was stable without noticeable impact. The correctness of the kinematic model and the rationality of the planned gait were verified. The robot was applied to the actual detection of the GIS pipeline, and the stable wall climbing motion and detection under different working conditions were realized.
Key words: pipeline robot    wall-climbing quadruped robot    kinematics    gait analysis    trajectory planning
收稿日期: 2021-01-31 出版日期: 2021-12-31
CLC:  TP 242  
基金资助: 广东省科技计划资助项目(2019B040402006)；气体绝缘金属封闭开关内部检测壁虎机器人研发及应用(GZHKJXM20170068)
通讯作者: 张铁     E-mail: linli@scut.edu.cn;merobot@scut.edu.cn
作者简介: 李琳(1962—)，女，教授，从事机器人技术及工程应用研究. orcid.org/0000-0002-7586-4431. E-mail: linli@scut.edu.cn
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引用本文:

李琳,薛泽浩,蔡蒂,张铁. 管道内壁四足爬壁机器人的运动学与步态规划[J]. 浙江大学学报(工学版), 2021, 55(12): 2286-2297.

Lin LI,Ze-hao XUE,Di CAI,Tie ZHANG. Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall. Journal of ZheJiang University (Engineering Science), 2021, 55(12): 2286-2297.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2021.12.008    或    https://www.zjujournals.com/eng/CN/Y2021/V55/I12/2286

图 1  爬壁机器人机械结构
图 2  机器人曲面适应性分析模型
$i$ ${a_{i - 1}}$ ${\alpha _{i - 1}}$ ${d_i}$ ${\theta _i}$
1 0 0 0 ${\theta _1}$
2 0 90° 0 ${\theta _{\text{2}}}$
3 ${L_1}$ 0 0 ${\theta _{\text{3}}}$
4（末端） ${L_2}$ 0 $ - d$ 0
表 1  机器人串联腿部结构的D-H参数
图 3  爬壁机器人运动学建模
图 4  机器人的轴向步态规划
图 5  机器人的圆周步态规划
图 6  轴向步态分析示意图
图 7  圆周步态分析示意图
编号 $\eta_1 $ $\eta_2 $ $\eta_3 $
一号腿 $[ - {60^ \circ },{60^ \circ }]$ $[ - {60^ \circ },{60^ \circ }]$ $[{30^ \circ },{150^ \circ }]$
二号腿 $[ - {60^ \circ },{60^ \circ }]$ $[{120^ \circ },{240^ \circ }]$ $[ - {150^ \circ }, - {30^ \circ }]$
三号腿 $[ - {60^ \circ },{60^ \circ }]$ $[ - {60^ \circ },{60^ \circ }]$ $[ - {150^ \circ }, - {30^ \circ }]$
四号腿 $[ - {60^ \circ },{60^ \circ }]$ $[{120^ \circ },{240^ \circ }]$ $[{30^ \circ },{150^ \circ }]$
表 2  机器人关节角度限制
图 8  机器人运动轨迹曲线
图 9  零冲击规划一号腿关节角度、角速度与角加速度
图 10  3次样条插值法一号腿关节角度、角速度与角加速度
图 11  控制系统结构图
图 12  垂直管道爬壁实验
图 13  水平管道爬壁实验
图 14  一号腿实际关节角度
图 15  一号腿运动轨迹误差分析
图 16  机身的加速度和姿态变化
图 17  机器人在变电站现场GIS管道内的实验
图 18  不同管道内机身加速度变化曲线
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