Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall

doi:10.3785/j.issn.1008-973X.2021.12.008

Journal of ZheJiang University (Engineering Science)

2021, Vol. 55

Issue (12): 2286-2297 DOI: 10.3785/j.issn.1008-973X.2021.12.008

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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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

Received: 31 January 2021 Published: 31 December 2021

CLC:

TP 242

Fund: 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)

Corresponding Authors: Tie ZHANG E-mail: linli@scut.edu.cn;merobot@scut.edu.cn

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Cite this article:

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.

URL:

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

管道内壁四足爬壁机器人的运动学与步态规划

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

Fig.1 Mechanical structure of wall-climbing robot

Fig.2 Analysis model of robot surface adaptability

Tab.1 D-H parameters of robot series leg structure

Fig.3 Kinematics modeling of wall-climbing robot

Fig.4 Axial gait planning of robot

Fig.5 Circular gait planning of robot

Fig.6 Schematic diagram of axial gait analysis

Fig.7 Schematic diagram of circular gait analysis

Tab.2 Joint angle limit of robot

Fig.8 Trajectory curve of robot

Fig.9 Joint angle, angular velocity and angular acceleration of leg one by zero impact planning

Fig.10 Joint angle, angular velocity and angular acceleration of leg one by cubic spline interpolation

Fig.11 Structure diagram of control system

Fig.12 Wall-climbing experiment of vertical pipeline

Fig.13 Wall-climbing experiment of horizontal pipeline

Fig.14 Actual joint angle of leg one

Fig.15 Trajectory error analysis of leg one

Fig.16 Acceleration and attitude change of body

Fig.17 Experiment of robot in GIS pipeline

Fig.18 Acceleration curve of body in different pipelines


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