Affiliation of Author(s):自动化学院

Journal:JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY

Key Words:Aircraft skin inspection robot Suction cup control Static force analysis Self-adjustment adsorption force

Abstract:A self-adjusted adsorption strategy is developed for an aircraft skin inspection robot with double frames to improve adsorption safety and movement stability. The principal aim is to determine the optimal value of adsorption force when the robot slips or overturns on the fuselage. A pneumatic system that consists of suction cup and cylinder control is designed. Static force analysis shows that the adsorption force of the aircraft skin inspection robot is related to the curvature of the fuselage. The relationship between the minimum value of adsorption force and offset angle of the robot barycenter is established with the least-squares support vector regression algorithm. Pulsewidth modulation is then applied to control the pressure difference in the suction cup. Experimental results prove the feasibility of suction cup control with the self-adjusted adsorption strategy.

ISSN No.:1738-494X

Translation or Not:no

Date of Publication:2018-06-01

Co-author:Gu, Jiayue,Wu, Xuewei

Correspondence Author:wcq