Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot
In recent years, many wall-climbing robots have been developed in the field of petrochemical storage tank maintenance. However, it is difficult for most of them to be widely used due to common problems such as poor adsorption capacity, poor adaptation to elevation, and low trajectory tracking accura...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Symmetry |
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| Online Access: | https://www.mdpi.com/2073-8994/15/2/255 |
| _version_ | 1797618141743808512 |
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| author | Dong Zhang Zhihao Li Pei Jia Yueshuo Zheng Shixin Liu Jun Wei Minglu Zhang Manhong Li |
| author_facet | Dong Zhang Zhihao Li Pei Jia Yueshuo Zheng Shixin Liu Jun Wei Minglu Zhang Manhong Li |
| author_sort | Dong Zhang |
| collection | DOAJ |
| description | In recent years, many wall-climbing robots have been developed in the field of petrochemical storage tank maintenance. However, it is difficult for most of them to be widely used due to common problems such as poor adsorption capacity, poor adaptation to elevation, and low trajectory tracking accuracy. In order to solve the problem of the robot not being able to achieve high-precision operation on curved surfaces, a new wall-climbing robot system is designed. Based on the magnetic wheel adsorption method, a passive adaptive motion mechanism that can adapt to walls with different curvatures is proposed. In order to improve the trajectory tracking accuracy of the wall-climbing robot, the kinematic model of the wall-climbing robot is simplified, a velocity compensation controller is designed, and the stability of the controller is proved by introducing the Lyapunov equation. Through experiments, the controller designed in this paper is compared with the conventional controller to verify the effectiveness and superiority of the controller. The experimental results show that the robot can move safely and stably on curved surfaces, with improved tracking accuracy and reduced trajectory deviation caused by response time lag, and meets the maintenance operation requirements of wall-climbing robots. |
| first_indexed | 2024-03-11T08:04:57Z |
| format | Article |
| id | doaj.art-76749d382d674e12bd86850d7e084108 |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-11T08:04:57Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-76749d382d674e12bd86850d7e0841082023-11-16T23:30:52ZengMDPI AGSymmetry2073-89942023-01-0115225510.3390/sym15020255Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing RobotDong Zhang0Zhihao Li1Pei Jia2Yueshuo Zheng3Shixin Liu4Jun Wei5Minglu Zhang6Manhong Li7State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaChina Nuclear Power Technology Research Institute Co., Ltd., Shenzhen 518028, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaState Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei University of Technology, Tianjin 300130, ChinaIn recent years, many wall-climbing robots have been developed in the field of petrochemical storage tank maintenance. However, it is difficult for most of them to be widely used due to common problems such as poor adsorption capacity, poor adaptation to elevation, and low trajectory tracking accuracy. In order to solve the problem of the robot not being able to achieve high-precision operation on curved surfaces, a new wall-climbing robot system is designed. Based on the magnetic wheel adsorption method, a passive adaptive motion mechanism that can adapt to walls with different curvatures is proposed. In order to improve the trajectory tracking accuracy of the wall-climbing robot, the kinematic model of the wall-climbing robot is simplified, a velocity compensation controller is designed, and the stability of the controller is proved by introducing the Lyapunov equation. Through experiments, the controller designed in this paper is compared with the conventional controller to verify the effectiveness and superiority of the controller. The experimental results show that the robot can move safely and stably on curved surfaces, with improved tracking accuracy and reduced trajectory deviation caused by response time lag, and meets the maintenance operation requirements of wall-climbing robots.https://www.mdpi.com/2073-8994/15/2/255wall-climbing robotpassive adaptive mechanismspeed compensationtrack tracking |
| spellingShingle | Dong Zhang Zhihao Li Pei Jia Yueshuo Zheng Shixin Liu Jun Wei Minglu Zhang Manhong Li Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot Symmetry wall-climbing robot passive adaptive mechanism speed compensation track tracking |
| title | Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot |
| title_full | Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot |
| title_fullStr | Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot |
| title_full_unstemmed | Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot |
| title_short | Optimization Design and Trajectory Error Compensation of a Facade-Adaptive Wall-Climbing Robot |
| title_sort | optimization design and trajectory error compensation of a facade adaptive wall climbing robot |
| topic | wall-climbing robot passive adaptive mechanism speed compensation track tracking |
| url | https://www.mdpi.com/2073-8994/15/2/255 |
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