Research On Kinematics And Control Of Quadruped Wall-climbing Robot In GIS

In the power transmission industry,GAS INSULATED SWITCHGEAR(GIS)is widely used because of its excellent performance.However,in the actual use process,the intervention of impurities and long-term use under ultra-high pressure conditions often lead to equipment failure and abnormal operation,so it is necessary to detect GIS equipment regularly to check the failure and potential safety hazards.The traditional detection method is to manually detect the faults and eliminate the hidden dangers of the rotatable high-definition endoscope,but this method requires a lot of manpower,and has the shortcomings of unclear detection and inaccurate positioning.In order to improve the efficiency and accuracy of detection,based on the pipeline robot technology,a pipeline quadruped wall climbing robot specially used for GIS internal detection is developed,and its kinematics and gait control are studied.According to the technical requirements of lightweight and small size,the mechanical structure of the robot is designed,and the working environment and detection target of GIS pipeline are analyzed;At the same time,combined with bionics structure,the joint configuration of the robot is designed,and the whole structure and three-dimensional model are built.The kinematics of the robot is solved: In order to quantitatively describe the position and attitude of the robot in the pipeline,the pose model of the robot body is constructed by using pose parameters and pose matrix,and the initial pose of the robot is established to make it have better obstacle avoidance performance;The forward and inverse kinematics of the single leg is solved,and its Jacobian matrix is established.The singularity of the robot motion is analyzed to avoid the singular state;At the same time,the forward and inverse kinematics of the fuselage are analyzed.By analyzing the workspace of the foot and fuselage,the step size of the foot movement and the range of fuselage movement are determined.Planning the gait of robot: According to the environmental characteristics of the inner wall of the pipeline,the axial straight walking gait,the circumferential transverse walking gait and the in-situ turning gait are designed respectively;In order to improve the obstacle avoidance ability of the foot,a sinusoidal motion trajectory is designed,and a gait switching strategy based on standard posture is proposed to realize the switching between multiple gait;At the same time,in order to further improve the stability of the motion process,a correction strategy of fuselage pose deviation is proposed.Verify the correctness of robot motion planning: The robot simulation platform and experimental platform are built,and the experiments of axial straight motion,circular transverse motion and in-situ turning motion are carried out.At the same time,the Euler angle of the fuselage,the position of the fuselage center and the joint torque are analyzed.The simulation and experimental results show that the robot can stably achieve the planned gait in the pipeline,which further proves the rationality of the structure design of the robot.