| Because the bridge detection,nuclear power plant maintenance and petrochemical storage tank inspection and other work has a certain risk.A micro climbing robot with five degrees of freedom adsorbed by biped electromagnetic suckers was designed to replace human beings to complete such dangerous work.The robot has the advantages of flexible movement,strong barrier capability,strong adsorption capacity,simple control and small size.The main research is as follows:(1)Robot mechanical system design.Based on the comparative analysis of the advantages and disadvantages of different structures,a micro climbing robot with five degrees of freedom adsorbed by biped electromagnetic suckers was designed,which has many kinds of movement modes such as Inchworm,turning and rotation.And the robot has a strong barrier capability.(2)Robot kinematic analysis.The coordinate transformation matrix was established by using the D-H parameter method,and the positive and negative solutions of the kinematics were deduced.The correctness and comprehensiveness of the solution are verified by MATLAB.On this basis,the motion trajectory simulation of the robot was carried out.(3)Robot path and trajectory planning.The A-star algorithm was applied to the robot path planning,and the feasibility of the A-star algorithm path planning was verified on by MATLAB.The obstacle path planning was carried out to guide the robot's way of obstacle;The trajectory planning of the rotating joint was carried out by three polynomial interpolation methods and five polynomial interpolation methods respectively.Due to the particularity of the robot structure,the path planning and trajectory planning are proposed for the first time.In this paper,the robot structure design,kinematics,path planning and trajectory planning and other issues were studied,and made a meaningful exploration on the design,motion planning and control of the robot.It is of important practical application value for the safety detection of special mechanical equipment. |
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