一种在驱动轮打滑情况下爬壁机器人动力学建模方法

分析了轮式爬壁机器人(WWCR)在壁面作业容易发生打滑的原因,在建立其理想纯滚动假设条件下的动力学模型基础上,基于车辆动力学理论,引入单个驱动轮的动力学方程,提出了一种在驱动轮打滑情况下WWCR的动力学建模方法.仿真算例表明,吸盘吸附力和壁面附着系数对WWCR运动轨迹影响非常大;在复杂的壁面环境下,可通过对吸盘吸附力和驱动轮力矩的协调控制,合理调节轮子的打滑程度,获得尽可能大的附着系数,并弥补打滑造成的运动轨迹偏移,从而获得良好的壁面运动性能.该建模方法为WWCR在打滑情况下的运动控制和路径规划提供了理论研究基础.

An Approach of Dynamics Modeling of Wheeled Wall-Climbing Robot with Wheel Slip

The reasons that the wheeled wall-climbing robots(WWCR) undergo slipping were given.Based on the dynamics modeling under the assumption that the wheels undergo ideal rolling,an approach of dynamics modeling of WWCR with wheel slip was developed by introducing the dynamic equation of single wheel based on the theory of automobile dynamics.The simulation examples show that the suction force and the adhesion coefficient have great influence on the trajectory of motion of WWCR.Moreover,the coordinated control of the suction force and the driving moments can be used to adjust the level of slip,get maximum adhesion coefficient and compensate the trajectory difference due to wheel slip for good motion characteristics on complex wall environments.This approach can offer the theoretical basis for the motion control and path planning of WWCR with wheel slip.