[1]何振勇,孙洪超,魏 武.大直径缆索检测蛇形机器人单环攀爬研究与实现[J].机械与电子,2017,(07):77-80.
　HE Zhenyong,SUN Hongchao,WEI Wu.Research and Realization of Snake-like Robot Single-ring Climbingfor Large-diameter Cable Detection[J].Machinery & Electronics,2017,(07):77-80.
点击复制

大直径缆索检测蛇形机器人单环攀爬研究与实现
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年07期
页码:
77-80
栏目:
智能工程
出版日期:
2017-07-25

文章信息/Info

Title:
Research and Realization of Snake-like Robot Single-ring Climbing for Large-diameter Cable Detection
文章编号:
1001-2257(2017)07-0077-04
作者:
何振勇1; 孙洪超2; 魏 武1
(1.华南理工大学,广东 广州 510641; 2.广州市威控机器人有限公司,广东 广州 510635)
Author(s):
HE Zhenyong1; SUN Hongchao2; WEI Wu1
(1.South China University of Technology,Guangzhou 510641,China; 2.Guangzhou VK Robot Co.,Ltd.,Guangzhou 510635,China)
关键词:
蛇形机器人;  控制函数;  单环攀爬
Keywords:
snake-like robot;  control function;  single-ring climbing
分类号:
TP242
文献标志码:
A
摘要:
提出了一种可用于大直径桥梁缆索检测的单环攀爬蛇形机器人。对其控制方法进行设计和优化,使所设计的机器人对圆柱体有良好的攀爬能力。蛇形机器人采用正交关节,对蛇形机器人控制函数法进行分析,提出一种闭合单环翻滚攀爬运动控制函数。根据单环攀爬的特点,设计攀爬辅助装置,实现了对大直径缆索的攀爬运动。
Abstract:
A single-ring climbing snake-like robot for large-diameter bridge cable detection is presented in this paper. The control method was designed and optimized to produce the designed robot with good climbing ability to the cylinder. The orthogonal joint was used in the snake-like robot. And by analyzing the control function method of the snake-like robot, a closed single-ring climbing control function was put forward. According to the characteristics of single-ring climbing, a climbing auxiliary device was designed to realize the climbing on the large-diameter cable.

参考文献/References:

[1] 魏清平,王硕,谭民,等.仿生机器鱼研究的进展与分析[J].系统科学与数学,2012,32(10):1274-1286.
[2] Webb P W.The biology of fish swimming[C]//Maddock L,Bone Q,and Rayner J M V.Mechanics and Physiology of Animal Swimming. Cambridge:Cambridge University Press,1994:45-62.
[3] 崔祚,姜洪洲,何景峰,等.BCF 仿生鱼游动机理的研究进展及关键技术分析[J].机械工程学报,2015,51(16):177-184,195.
[4] Suzuki H, Kato N, Suzumori K. Load characteristics of mechanical pectoral fin[J]. Experiments in Fluids, 2008, 44(5): 759-771.
[5] 章永华, 何建慧, 吴月华, 等.基于功能材料的柔性多关节水下仿鱼形推进器设计及分析[J].机器人, 2006, 28(4): 367-373.
[6] Wang Z, Hang G, Wang Y, et al. Embedded SMA wire actuated biomimetic fin: a module for biomimetic underwater propulsion[J]. Smart Materials and Structures, 2008, 17(2): 025039.
[7] Cen L, Erturk A.Bio-inspired aquatic robotics by untethered piezohydroelastic actuation[J].Bioinspiration & Biomimetics, 2013, 8(1): 016006.
[8] Punning A, Anton M, Kruusmaa M, et al. A biologically inspired ray-like underwater robot with electroactive polymer pectoral fins[C]//International IEEE Conference on Mechatronics and Robotics, 2004: 241-245.
[9] Marchese A D, Onal C D, Rus D.Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators[J]. Soft Robotics, 2014, 1(1): 75-87.
[10] Liang J, Wang T, Wen L. Development of a two-joint robotic fish for real-world exploration[J].Journal of Field Robotics, 2011, 28(1): 70-79.
[11] 梁建宏, 邹丹, 王松, 等. SPC-Ⅱ 机器鱼平台及其自主航行实验[J]. 北京航空航天大学学报, 2005, 31(7): 709-713.
[12] Su Z, Yu J, Tan M, et al. Implementing flexible and fast turning maneuvers of a multijoint robotic fish[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(1): 329-338.
[13] Liu J, Hu H.Biological inspiration: from carangiform fish to multi-joint robotic fish[J]. Journal of Bionic Engineering, 2010, 7(1): 35-48.
[14] Huang H, Dong E, Zhou L, et al. Design and analysis of a two-DOF coupling motion robotic joint[C]//IEEE International Conference on Real-time Computing and Robotics(RCAR), IEEE, 2016: 573-578.

相似文献/References:

[1]孟令森,吴 胜,王永娟,等.蛇形蠕动机器人行波运动和动力学研究[J].机械与电子,2017,(12):68.
　MENG Lingsen,WU Sheng,WANG Yongjuan,et al.Study on Snake-like Inchworm Robot's Locomotion and Dynamics[J].Machinery & Electronics,2017,(07):68.
[2]王生栋,查富生,王鹏飞,等.蛇形机器人模块化结构设计与蜿蜒运动研究[J].机械与电子,2016,(01):76.
　WANG Shengdong,ZHA Fusheng,WANG Pengfei,et al.Research on the Snake-like Robot's Modular Structural Design and Winding Movement[J].Machinery & Electronics,2016,(07):76.

备注/Memo

备注/Memo:
收稿日期:2017-01-18
基金项目:江苏省交通运输科技项目(2014Y02)
作者简介:何振勇(1987-),男,广东肇庆人,工学硕士,研究方向为建筑智能化、仿生机器人、物联网技术; 孙洪超(1987-),男,山东济宁人,工学硕士,研究方向为仿生机器人、智能装备; 魏 武(1970-),男,湖南益阳人,博士,教授,研究方向为模式识别与人工智能、仿生机器人等。
更新日期/Last Update: 2017-07-25