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为了满足注水管内机器人检测系统运动平稳性的要求,研究了机器人防滑转牵引驱动的动力学建模方法。通过建立驱动轮与检测系统的动力学综合模型,并适当变换控制参数,以机器人的输出牵引力为反馈输入,使驱动轮转矩跟随附着系数达到运动速度调整。仿真结果表明,驱动系统能够获得自行调节能力,维持牵引运动平稳,验证了模型的有效性与可行性。基于附着系数进行牵引力反馈输入,可以满足机器人运动控制的要求。
In order to meet the requirement of the motion detection stability of the robot in the water injection pipe, the dynamic modeling method of robot anti-slip traction drive is studied. Through the establishment of a comprehensive dynamic model of the driving wheel and the detection system, the control parameters are properly changed, and the output traction force of the robot is used as the feedback input to make the drive torque follow the attachment coefficient to achieve the movement speed adjustment. The simulation results show that the drive system can obtain the self-adjusting ability and maintain the traction movement smoothly, which verifies the validity and feasibility of the model. Traction feedback input based on the adhesion coefficient can meet the requirements of robot motion control.