| For its extensive use and high value, the climbing robot has been provoking high attention eversince it was born in1960’s. In the paper, for the demand of big plane nondestructive testing ofintelligence, a vacuum absorption climbing robot has developed. The climbing robot’s motionintegrated structure is designed at first, then its kinematics and dynamics model is established, and itspath tracking is realized, at last, the detail designed for the climbing robot’s control is maked. Thepaper included the main content as follows:Firstly, the developing situation of the technology of the climbing robot is analyzed, based onlots of relevant works and bibliographies, and the motion structure scheme for the robot is put forward.Four modules such as moving module, adhesion module, perception system and wirelesscommunication are developed in the motion control system. The motion structure of the climbingrobot has been designed in modules, and selected for each module separately.Secondly, the movement of the robot has been analyzed. The mechanics model for the climbingrobot is built, and its safe operation can be verified. The robot’s gait is introduced minutely, and itspose is analyzed as well. All these are the basis for robot’ motion analysis.Then, kinematics and dynamics model of the climbing robot is built. Under Sheth-Uicker rule,the kinematics equation is set up. And dynamics model is built by Lagrange equation. On analysis ofdynamics model, the path like a line or a cycle is investigated, and it simulated in ProportionDifferentiation control and Sliding Mode Control. The simulation results are compared and analyzed.Finally, the movement control of the climbing robot is designed. The control system is designedby the software and hardware for each module. The robot is controlled by the master computer withremote control system, through the wireless module and wireless CCD. After a series of experimentsare carried out, the effectiveness of the technology has been demonstrated... |
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