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

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