發(fā)布時間：2018-06-17 17:03

  本文選題：攀爬機器人 + 夾緊機構��； 參考：《木材加工機械》2016年05期

【摘要】：提出團隊開發(fā)的基于木結構古建筑和活立木的攀爬機器人攀爬作業(yè)時整體抖動問題解決方案。針對攀爬機器人夾緊機構夾緊力不易精確控制,機器人攀爬過程中易抖動、運動狀態(tài)不穩(wěn)定等問題,提出一種智能PID控制算法,通過自動調整PID增益參數(shù),智能控制橫向液壓推桿進給速率,同時有效控制與調節(jié)了夾緊力度,克服傳統(tǒng)控制方式帶來的機器人行進步長控制不精,行進過程抖動幅度大和運動不穩(wěn)定的問題。實際應用與測試結果表明:智能PID控制算法可及時響應攀爬機器人夾緊動作,并使抖動幅度≤0.1mm,夾緊控制誤差在≤0.2mm,運動狀態(tài)穩(wěn)定,達到承載檢測設備沿桿狀物穩(wěn)定攀爬的工作目的。
[Abstract]:This paper presents a solution to the problem of global jitter of climbing robot based on wooden structure ancient building and living wood developed by team. Aiming at the problems that clamping force of clamping mechanism of climbing robot is not easy to control accurately, easy to jitter and unstable motion during climbing, an intelligent pid control algorithm is put forward, and pid gain parameters are automatically adjusted. Intelligent control of lateral hydraulic push rod feed rate, and effectively control and adjust the clamping force, to overcome the traditional control of the robot's walking step control is not accurate, the moving process jitter amplitude and movement instability. The practical application and test results show that the intelligent pid control algorithm can respond to clamping action of climbing robot in time, and make the amplitude of jitter 鈮，

本文編號：2031753