Design And Implementation Of A Small Self-adaptive Flip Climbing Robot

With the development of society,high-altitude operation has become more and more common in people's lives.The high-altitude operation has high complexity and danger.The staff often needs to erect the sling or use the engineering vehicle to reach the predetermined height.The preparation work is complicated,the working environment has high risk and high uncertainty,and the operation process costs a lot.The climbing robot can climb to specified working height through its customized climbing mechanism and use the tools it carries to complete specific tasks,thereby reducing the complexity and cost of the high-altitude operation,improving the working efficiency and greatly reducing the potential harm caused by high-altitude operation.This paper designed and implemented a small self-adaptive flip climbing robot consisting of 5 links and 4 joints.It climbed through the robot's stride and flip actions.The robot acquired the position of the key links through the acceleration sensors,and improved the accuracy of the attitude of the robot through the attitude compensation algorithm,thus ensuring the step accuracy of the robot.In addition,the link thickness model was established in this paper,and the obstacle crossing control of the robot was realized.This paper had studied in the following aspects:(1)The robot's triangular support clamping structure was designed,which made the gripper and the shell of servo motor bear the work of clamping and supporting respectively.The triangular structure formed by the gripper and the shell of servo made the robot have self-adaptive ability for climbing pole with sections of different shapes;(2)The D-H(Denavit-Hartenberg)parameter model of the robot's stride links was established.The relationship between the step distance and the joint angle of the robot was established through the transformation matrixes.Then the inverse kinematics of the joint angle was solved,and the wrong and unrealizable solutions obtained in the solution process were discussed and removed;(3)The control system of the robot was designed,the functions of each part of the control system was expounded,and the hardware parameters were determined according to the system function;(4)The robot stride and flip action procedure were designed,and the robot PID(Proportional–Integral–Derivative)attitude compensation algorithm was proposed;(5)Mathematical abstraction of the robot's obstacle crossing behavior was achieved,and the separation condition and striding condition that the robot must satisfy to cross obstacles were proposed.The thickness models of the robot's stride links and gripper links were established respectively,and the robot's obstacle-crossing control process was designed,which included single-step obstacle-crossing and multi-step obstacle-crossing.The key problems of multi-step obstacle-crossing for robots was discussed;(6)The experiment verified the robot's ability to step and cross obstacle.The test results were as follows: the average time of single step was 29 seconds,the maximum relative error of step distance was 4.5%,the average relative error was 2.1%,and the maximum load was 3.79 Kg.The robot could realize stable and continuous climbing.In addition,it can achieve obstacle crossing through single-step and multi-step,and the maximum height and width of the acrossed obstacle are 13.5cm and 15.5cm separately.