Research On Switching Motion Control Of An Aircraft Skin Detection Robot With Double Frames

With the rapid development of aviation technology, more and more planes are produced and put into use. The plane detection problem has been also got the attention of people. The manual inspection, which is mainly used in aircraft inspection, has many problems, such as big labor intensity, long test cycle, high rate of missed detection and low workers job security protection. In this paper, the theoretical analysis and comprehensive experiments have been carried on a double framework aircraft skin detection robot.First of all, the mechanical structure of the double framework aircraft skin detection robot is introduced and the movement gaits are described; the adsorption force of the suction cups on the leg are analyzed during the switch movements of the robot on the surface of a plane, the stable adsorption equilibrium equation is established; Aimed at suction cup group adsorption mode of the robot’s inside and outside framework, rigid switch adsorption strategy and flexible switch adsorption strategy have been designed.Then, according to the mechanical structure of the double frame aircraft skin detection robot and the analysis of movement gaits, the robot motion system is divided into subsystem A and subsystem B, which includes rotational motion, sliding movement and robot leg telescopic movement; on the basis analysis of the robot’s stress distribution on the plane surface, the rotation model, sliding model of each subsystem and the position of the robot telescopic leg control model have been established.In addition, the combination of the backstepping method and fast Terminal sliding mode control are adopted to realize the control of the robot’s rotation and sliding; and a sliding mode controller is designed to realize the position control of robot telescopic legs; for two subsystems of the double framework aircraft skin detection robot, a switching strategy based on event driven is designed, which implements the whole robot system to track the desired global trajectory asymptotically.Finally, the motion control experiment of the robot has been carried out on the aircraft skin, including robot turning gait experiment and sliding gait experiment, which verifies the reliability and stability of the robot switch system.