Research on Walking Wheel Slippage Control of Live Inspection Robot

4th International Conference on Mechanics and Mechatronics Research

机械制造;无线电电子学

Yan, Yu^1,2 ; Liu, Xiaqing^1,2 ; Guo, Hao^1,2 ; Li, Jinliang^1,2 ; Liu, Lanlan^1,2

State Grid Hunan Electric Power Company Live Working Center, Changsha

410100, China^1

Hunan Province Key Laboratory of Intelligent Live Working Technology and Equipment (Robot), Changsha

410100, China^2

关键词: Friction force;    Fuzzy control methods;    Inspection robots;    Key factors;    Linear speed;    Reading speed;    Wheel mechanism;    Wheel slippage;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/224/1/012028/pdf
DOI  :  10.1088/1757-899X/224/1/012028

来源: IOP

【 摘 要 】

To solve the problem of walking wheel slippage of a live inspection robot during walking or climbing, this paper analyzes the climbing capacity of the robot with a statics method, designs a pressing wheel mechanism, and presents a method of indirectly identifying walking wheel slippage by reading speed of the pressing wheel due to the fact that the linear speed of the pressing wheel and the walking wheel at the contract point is the same; and finds that the slippage state can not be controlled through accurate mathematical models after identifying the slippage state, whereas slippage can be controlled with fuzzy control. The experiment results indicate that due to design of the pressing wheel mechanism, friction force of the walking wheel is increased, and the climbing capability of the robot is improved. Within the range of climbing capability of the robot, gradient is the key factor that has influence on slippage of robot, and slippage can be effectively eliminated through the fuzzy control method proposed in this paper.