摘要
针对四轮爬壁机器人在铅垂壁面上转向失稳的难题展开研究。基于赫兹接触理论,提出一种摩擦力模型,利用面积分算法,求解出转向过程的纵向摩擦力、横向摩擦力、转向阻力矩;通过动力学建模,推导出转向过程中驱动力矩关系式。使用MATLAB仿真计算出了不同负载和不同驱动力矩所对应的吸附力变化趋势。通过实验得出,吸附力为759 N时,转向过程不会出现失稳。
Aiming at the problem of the steering instability of the four-wheel climbing robot on the vertical wall.Based on the Hertz contact theory,a friction model was proposed,which uses the area division algorithm to solve the longitudinal friction and lateral friction of the steering process,steering resistance torque;through dynamic modeling,derive the relationship between driving torque in the steering process.The MATLAB simulation was used to calculate the change trend of the adsorption force corresponding to different loads and different driving torques.It is found through experiments that when the adsorption force is 759 N,the steering process will not be unstable.
作者
丁超
李刚俊
唐东林
DING Chao;LI Gang-jun;TANG Dong-lin(College of Mechatronics Engineering,Chengdu Technological University,Chengdu 611730,China;Key Laboratory of Petroleum and Natural Gas Equipment,Ministry of Education,School of MechatronicEngineering,Southwest Petroleum University,Chengdu 610500,China)
出处
《科学技术与工程》
北大核心
2019年第27期217-223,共7页
Science Technology and Engineering
关键词
爬壁
逆向转向
摩擦力
转向阻力矩
动态磁吸附力
wall climbing
reverse detours
the frictional force
steering resistance moment
dynamic magnetic adherence-based force
