發(fā)布時(shí)間：2018-06-17 17:03

  本文選題：攀爬機(jī)器人 + 夾緊機(jī)構(gòu)��； 參考：《木材加工機(jī)械》2016年05期

【摘要】：提出團(tuán)隊(duì)開(kāi)發(fā)的基于木結(jié)構(gòu)古建筑和活立木的攀爬機(jī)器人攀爬作業(yè)時(shí)整體抖動(dòng)問(wèn)題解決方案。針對(duì)攀爬機(jī)器人夾緊機(jī)構(gòu)夾緊力不易精確控制,機(jī)器人攀爬過(guò)程中易抖動(dòng)、運(yùn)動(dòng)狀態(tài)不穩(wěn)定等問(wèn)題,提出一種智能PID控制算法,通過(guò)自動(dòng)調(diào)整PID增益參數(shù),智能控制橫向液壓推桿進(jìn)給速率,同時(shí)有效控制與調(diào)節(jié)了夾緊力度,克服傳統(tǒng)控制方式帶來(lái)的機(jī)器人行進(jìn)步長(zhǎng)控制不精,行進(jìn)過(guò)程抖動(dòng)幅度大和運(yùn)動(dòng)不穩(wěn)定的問(wèn)題。實(shí)際應(yīng)用與測(cè)試結(jié)果表明:智能PID控制算法可及時(shí)響應(yīng)攀爬機(jī)器人夾緊動(dòng)作,并使抖動(dòng)幅度≤0.1mm,夾緊控制誤差在≤0.2mm,運(yùn)動(dòng)狀態(tài)穩(wěn)定,達(dá)到承載檢測(cè)設(shè)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(hào)：2031753