机电工程技术2025，Vol.54Issue(5)：34-39,6.DOI:10.3969/j.issn.1009-9492.2025.05.006
储罐爬壁机器人转向滑移分析与优化
Analysis and Optimization of Steering and Sliding of Tank Wall Climbing Robot
摘要
Abstract
A mathematical model for the steering slip of wheeled wall climbing robots on vertical walls is proposed,and the influencing factors of wall slip are analyzed.Firstly,a dynamic model of the wall turning of the wall climbing robot is established,and the turning slip model of the wall climbing robot is derived by combining four wheel differential kinematics and dynamic equations.The relationship between the displacement of the robot's center of mass before and after the slip is calculated.Secondly,based on the displacement expression of the robot's center of mass,analyze the relationship between the driving wheel speed and magnetic adsorption force on the steering slip amount.Finally,based on the slip theory model and simulation analysis results,the prototype of the wall climbing robot is subjected to steering slip and optimization experiments.The results show that the slip amount is affected by the driving wheel speed and magnetic adsorption force of the wall climbing robot.By appropriately increasing the driving wheel speed and magnetic adsorption force,the maximum reduction value of the robot's slip amount in the X direction is about 21 mm,and the maximum reduction value of the robot's slip amount in the Y direction is about 220 mm,which can effectively reduce wall slip.This study has certain engineering practical significance for improving the sliding phenomenon of wall climbing robots and improving control accuracy.关键词
爬壁机器人/壁面滑移/动力学模型/机器人定位Key words
wall climbing robot/wall slip/dynamic model/robot positioning分类
信息技术与安全科学引用本文复制引用
何媛媛,唐东林,覃超,王平杰..储罐爬壁机器人转向滑移分析与优化[J].机电工程技术,2025,54(5):34-39,6.基金项目
国家市场监管总局科技计划项目(2022MK115) （2022MK115）
南充市-西南石油大学市校科技战略合作项目(23XNSYSX0048) （23XNSYSX0048）
