Abstract:

This paper  focused on the joint torque distribution problem of  a six-legged wall-climbing robot with negative pressure adsorption sucker.A torque distribution method was proposed based on energy consumption optimization.The robot's dynamics models were derived on the basis of establishing the sucker overturning moment constraints,and the conversion between joint torque and the foot contact force,was completed,employing the Moor-Penrose inverse matrix method and the simple hill-climbing algorithm.These algorithms were implemented to calculate the relationship between the total energy consumption and the pose of the robot during various movement patterns.This was represented as the rotation angle of each joint,under the optimal goal of total energy consumption.The proposed method can adapt to various movement patterns effectively as well as improve the robot's environmental adaptability.Simulation results indicate that the proposed method is simple,effective,convenient in use,and  can identify the minimum energy consumption pose of the horizontally standing mode effectively,as well as,determine the most secure pose of the vertically standing mode after the setting of the horizontal security indicators.

Key words: negative pressure adsorption sucker, six-legged wall-climbing robot, joint torque distribution, the Moor-Penrose inverse matrix method

摘要：

针对采用吸盘负压吸附的六足爬墙机器人在多种运动模式下的关节转矩分配问题，提出基于总能耗目标优化的转矩分配方法。在确定吸盘翻转力矩约束、实现关节转矩与足底接触力转换的基础上,推导机器人动力学模型,进而用Moor-Penrose逆矩阵法和简体爬山算法求解总能耗最优目标下的机器人总功率与机器人各运动模式下各位姿（表现为各关节转角）之间的关系。该方法能有效适应爬墙机器人的多种运动模式，提高了机器人的环境适应能力。实验样机仿真结果表明,所提出的算法简单有效、实现方便，并且能有效确定站立模式最小总能耗位姿,以及在设定的侧立安全指标范围内的侧立最安全位姿。

关键词: 吸盘负压吸附, 六足爬墙机器人, 关节转矩分配, Moor-Penrose逆矩阵法