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所属单位：自动化学院

发表刊物：JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY

关键字：Aircraft skin inspection robot Suction cup control Static force analysis Self-adjustment adsorption force

摘要：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号：1738-494X

是否译文：否

发表时间：2018-06-01

合写作者：Gu, Jiayue,Wu, Xuewei

通讯作者：王从庆