具有牵引失效自检测功能的高负载比微型拖曳机器人设计方法

针对微型机器人受体积制约而难以实现拖曳大负载的问题,设计了 1种基于楔形刚毛阵列黏附脚掌原理,具有牵引失效自检测功能的微型拖曳机器人。该机器人采用轮式结构,通过执行机构对黏附脚掌的加载和脱附,将拖曳负载过程与机器人自身移动过程分开,使负载与机器人在平面上做尺蠖运动,实现微型机器人拖曳超过自身重量数百倍的负载。在此基础上,考虑到与黏附脚掌所接触的表面污渍或瑕疵对黏附脚掌加载性能的影响,对黏附脚掌加载时黏附力的变化进行研究,分析了从加载到黏附失效的过程中,黏附力的变化特征,并以黏附力对时间的变化作为信号,采用电容式触觉传感器对信号进行处理,实现对牵引失效现象的检测,为多机器人同时拖曳负载研究提供了思路。通过研制微型机器人的原理样机,验证了微型机器人设计的有效性和可行性。

Design of a High Mass-to-Load Ratio Micro Towing Robot with Self-Detection of Traction Failure

In order to solve the problem of the large-loading traction limited by small volume of traditional micro robots, amicro towing robot with self-detection of traction failure based on adhesive paws of the wedge-shaped bristle array is de.signed. The robot adopts a wheeled structure through loading and detaching the adherent foot by the actuator, the draggingprocess of the micro robot is separated from the process of its own movement, so that the micro robot can move in an inch.worm motion on the plane and drag a load hundreds of times more than its own weight. On this basis, considering the influ.ence of the stain or defect of the contacted surface on the loading performance of the adherent foot, the change of the adhe.sion force during the loading process is studied, and the change characteristics of the adhesion force from the loading tothe adhesion failure are analyzed. Taking the change of adhesion force to time as the signal, the capacitive tactile sensor isused to process the signal, the detection of traction failure phenomenon is realized, which provides the basis for multiple ro.bots to drag the load at the same time. Finally, the principle prototype of the micro robot is developed to verify the effective.ness and feasibility of the high mass-to-load ratio micro towing robot design.