Research On The Sensing,Detection And Control System Of Adhesive Forces Of Bio-Inspired Spine

The intelligence of bio-inspired wall-climbing robots is an important problem to be solved for future practical application.The sensing of adhesive forces is basis.The adhesive state of bio-inspired spines is complex.There are few means for detecting and controlling the adhesive force,so the research and exploration in this area is of great significance for the intelligent and practical of wall climbing robots.In this dissertation,we focus on the detection and control system of the adhesive forces and we also do some researches on the adhesion mechanism.Firstly,a mechanical model of a bio-inspired flexible spiny toepad on an arbitrary surface is proposed.Based on this mechanism modle and analysis results,the adhesive force detection scheme is developed.Then,the adhesive wall climbing platform is designed and manufactured.The software and hardware platform of detection and control system are designed.Finally,the correctness of detection result is verified by experiment.And the self-sensing function of the robot during climbing was realized.In addition,this paper also analyzes the stability of the adhesive system and the the movement strategy of the adhesive wall climbing platform and the spine ending trajectory.We also do some research on adhesive force control system.The main research results and innovations are as follows:(1)Based on the stiffness matrix,a mechanical model of adhesive force on a an arbitrary surface is proposed,and the adhesive force on the contact surface is analyzed.We obtained the mechanical expressions of the adhesive force.The safe zones of x-and y-axis displacements of the toepad are obtained.(2)The software and hardware platform design of the detection and control system was completed.The testing programme based on the Hall sensor is developed.By detecting the elastic force of the adhesive system,the tangential force of the spine can be detected,and the self-sensing function of the robot during climbing was realized.(3)The stability and anti-interference ability of the adhesive system is verified.When the platform climbs,the adhesive state can be detected in real time,and the self-sensing function of the climbing force of the wall climbing robot in the climbing process can be realized.