第13卷第2期 智能系统学报 Vol.13 No.2 2018年4月 CAAI Transactions on Intelligent Systems Apr.2018 D0:10.11992/tis.201611016 网络出版地址：http:/kns.cnki.net/kcms/detail/23.1538.TP.20170317.1937.012.html 仿尺蠖爬壁机器人自适应吸附及摇杆控制 高国庆，王涛，王斌锐 (中国计量大学机电工程学院，浙江杭州310018) 摘要：为了解决真空吸附爬壁机器人爬行时，需要吸盘和壁面紧密贴合，不易操控的问题。建立了吸盘足至壁面的 空间几何模型：基于DH参数，建立了运动学模型，根据速度运动学逆解，设计了一种用于对称机构爬壁机器人的摇 杆操作方法，将摇杆轴映射为关节速度闭环：根据位置运动学逆解，设计了自适应吸附动作，吸盘足与壁面距离小于 设定阈值时，自动触发自适应吸附动作；搭建了机器人控制系统和自适应吸附装置，在水平壁面上进行爬行实验，验 证了该方法可减小操控难度。 关键词：仿尺蠖爬壁机器人：真空吸附：摇杆操作：建模 中图分类号：TP242 文献标志码：A 文章编号：1673-4785(2018)02-0208-06 中文引用格式：高国庆，王涛，王斌锐.仿尺蠖爬壁机器人自适应吸附及摇杆控制J肌.智能系统学报，2018,13(2：208-213. 英文引用格式：GAO Guoqing,VANG Tao,WANG Binrui..Adaptive adsorption and joystick control of an inchworm wall--climb- ing robot J.CAAI transactions on intelligent systems,2018,13(2):208-213. Adaptive adsorption and joystick control of an inchworm wall-climbing robot GAO Guoqing,WANG Tao,WANG Binrui (College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018,China) Abstract:When a vacuum-adsorbed wall-climbing robot crawls,it is necessary for the acetabulum to closely attach onto a wall surface,and this is not easy to manipulate.To solve this problema space geometry model on the acetabulum foot and wall surface was developed,and a kinematics model was established on the basis of the D-H parameters.A rocker control method was designed for the wall-climbing robot with symmetric structure according to the inverse kinematics for speed.The rocker shaft was mapped as the joint velocity loop,and the adaptive adsorption action was designed ac- cording to the inverse kinematics for location.When the distance between the acetabulum foot and the wall surface was less than the set threshold,the adaptive adsorption action was triggered automatically.The robot control system and ad- aptive adsorption device were built,and a crawling experiment that was carried out on the horizontal wall surface re- vealed that the method could reduce the difficulty of manipulation. Keywords:inchworm wall-climbing robot;vacuum adsorption;rocker control;modeling 爬壁机器人的吸附方式中真空吸附应用普遍。况。美国密歇根州立大学研发的爬壁机器人FI 真空吸附主要包括真空泵和吸盘。真空泵不断从吸 per和Crawler、中国科学院沈阳自动化研究所研 盘腔中抽气，使吸盘腔内达到一定真空度，在大气 发的机器人B均采用单吸盘结构，在每个吸盘足安 压和摩擦力作用下，机器人不会倾覆。为了使吸 装了2个接触传感器，通过试探性地微调足端来使 盘和壁面紧密贴合，必须使吸盘平面和目标壁面平 吸盘和壁面贴合，吸附动作缓慢；文献[5-6]采用吸 行，且两个平面间距足够小。足式真空吸附爬壁机 盘组作为机器人的吸足，对吸盘与壁面的相对姿态 器人通过接触传感器来感知吸盘和壁面的接触情 要求更高；文献[7]爬壁机器人吸盘底部装有8个红 收稿日期：2016-11-14.网络出版日期：2017-03-17 外传感器组成的圆形阵列，用来判断吸盘和壁面的 基金项目：浙江省自然科学基金项目(LY14F030021) 通信作者：王斌锐.E-mail:wangbrpaper(@l63.com. 平行度，吸盘两侧装有光纤触觉传感器，用来感知DOI: 10.11992/tis.201611016 网络出版地址: http://kns.cnki.net/kcms/detail/23.1538.TP.20170317.1937.012.html 仿尺蠖爬壁机器人自适应吸附及摇杆控制 高国庆，王涛，王斌锐 （中国计量大学 机电工程学院，浙江 杭州 310018） 摘 要：为了解决真空吸附爬壁机器人爬行时，需要吸盘和壁面紧密贴合，不易操控的问题。建立了吸盘足至壁面的 空间几何模型；基于 D-H 参数，建立了运动学模型，根据速度运动学逆解，设计了一种用于对称机构爬壁机器人的摇 杆操作方法，将摇杆轴映射为关节速度闭环；根据位置运动学逆解，设计了自适应吸附动作，吸盘足与壁面距离小于 设定阈值时，自动触发自适应吸附动作；搭建了机器人控制系统和自适应吸附装置，在水平壁面上进行爬行实验，验 证了该方法可减小操控难度。 关键词：仿尺蠖爬壁机器人；真空吸附；摇杆操作；建模 中图分类号：TP242 文献标志码：A 文章编号：1673−4785(2018)02−0208−06 中文引用格式：高国庆, 王涛, 王斌锐. 仿尺蠖爬壁机器人自适应吸附及摇杆控制[J]. 智能系统学报, 2018, 13(2): 208–213. 英文引用格式：GAO Guoqing, WANG Tao, WANG Binrui. Adaptive adsorption and joystick control of an inchworm wall-climb￾ing robot[J]. CAAI transactions on intelligent systems, 2018, 13(2): 208–213. Adaptive adsorption and joystick control of an inchworm wall-climbing robot GAO Guoqing，WANG Tao，WANG Binrui (College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China) Abstract: When a vacuum-adsorbed wall-climbing robot crawls, it is necessary for the acetabulum to closely attach onto a wall surface, and this is not easy to manipulate. To solve this problema space geometry model on the acetabulum foot and wall surface was developed, and a kinematics model was established on the basis of the D-H parameters. A rocker control method was designed for the wall-climbing robot with symmetric structure according to the inverse kinematics for speed. The rocker shaft was mapped as the joint velocity loop, and the adaptive adsorption action was designed ac￾cording to the inverse kinematics for location. When the distance between the acetabulum foot and the wall surface was less than the set threshold, the adaptive adsorption action was triggered automatically. The robot control system and ad￾aptive adsorption device were built, and a crawling experiment that was carried out on the horizontal wall surface re￾vealed that the method could reduce the difficulty of manipulation. Keywords: inchworm wall-climbing robot; vacuum adsorption; rocker control; modeling 爬壁机器人的吸附方式中真空吸附应用普遍。 真空吸附主要包括真空泵和吸盘。真空泵不断从吸 盘腔中抽气，使吸盘腔内达到一定真空度，在大气 压和摩擦力作用下，机器人不会倾覆[1]。为了使吸 盘和壁面紧密贴合，必须使吸盘平面和目标壁面平 行，且两个平面间距足够小。足式真空吸附爬壁机 器人通过接触传感器来感知吸盘和壁面的接触情 况。美国密歇根州立大学研发的爬壁机器人 Flip￾per 和 Crawler[2] 、中国科学院沈阳自动化研究所研 发的机器人[3–4]均采用单吸盘结构，在每个吸盘足安 装了 2 个接触传感器，通过试探性地微调足端来使 吸盘和壁面贴合，吸附动作缓慢；文献[5–6]采用吸 盘组作为机器人的吸足，对吸盘与壁面的相对姿态 要求更高；文献[7]爬壁机器人吸盘底部装有 8 个红 外传感器组成的圆形阵列，用来判断吸盘和壁面的 平行度，吸盘两侧装有光纤触觉传感器，用来感知 收稿日期：2016−11−14. 网络出版日期：2017−03−17. 基金项目：浙江省自然科学基金项目 (LY14F030021). 通信作者：王斌锐. E-mail: wangbrpaper@163.com. 第 13 卷第 2 期 智 能 系 统 学 报 Vol.13 No.2 2018 年 4 月 CAAI Transactions on Intelligent Systems Apr. 2018