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多足爬壁机器人在利用负压吸附墙面时要求吸附模块底面与墙面平行,因此需要检测与控制吸附模块相对于墙面的位姿.为解决此问题,本文提出了一种基于距离传感器的吸附模块位姿非接触式检测方法.在简要介绍应用主体双足爬壁机器人W-Climbot之后,建立了吸附模块关键位姿(吸附模块相对于目标吸附面的距离和倾角)的理论计算模型,并分析了机器人可靠吸附的条件;然后开发了相应的具有位姿自主检测功能的吸附模块;最后进行了实验验证,根据测量结果对实验数据进行了误差分析和修正.实验表明,该方法简单有效,测距精度可达1 mm,测角分辨力可达0.3,满足双足爬壁机器人自主攀爬的实际使用需求,也可作为诸如真空吸附等相关工业应用的自动化解决方案.
Multi-foot wall-climbing robot requires that the bottom of the adsorption module be parallel to the wall surface when the negative pressure is used to adsorb the wall surface, therefore, the posture of the adsorption module relative to the wall surface needs to be detected and controlled.To solve this problem, a distance sensor , A theoretical and computational model of the key pose of the adsorption module (the distance and inclination of the adsorption module with respect to the target adsorption face) is established after the W-Climbot robot is briefly introduced. , And analyzed the condition of robot’s reliable adsorption.And then developed the corresponding adsorption module with self-detection of pose and posture.Finally, the experimental verification was carried out, the error of the experimental data was analyzed and corrected according to the measurement results.Experiments show that this method is simple Effective, ranging accuracy of up to 1 mm, angular resolution of up to 0.3, to meet the bipedal robot climb climbing the actual use of demand, but also can be used as vacuum adsorption and other related industrial applications of automation solutions.