The invention belongs to the technical field of climbing robots, and particularly discloses a three-jaw type pipeline climbing robot which comprises a trunk structure, a climbing structure, a fixing structure, a power source and a controller. The controller controls the robot through a closed-loop force-position mixing method, so that the robot can continuously adjust the actual pose and the clamping force of the climbing claw according to the preset expected pose and the clamping force of the climbing claw during climbing, and the robot can achieve stable climbing movement under different climbing angle conditions.
本发明属于攀爬机器人技术领域,具体公开了一种三爪式管道攀爬机器人,包括躯干结构、攀爬结构、固定结构、电源和控制器;控制器利用闭环的力‑位置的混合方法对机器人进行控制,使机器人在攀爬时可以根据预设好的期望的位姿和攀爬爪夹持力,不断调整实际的位姿和攀爬爪夹持力,使机器人在不同攀爬角度条件下都可以实现稳定的攀爬运动。
Three-jaw type pipeline climbing robot
一种三爪式管道攀爬机器人
2024-05-03
Patent
Electronic Resource
Chinese
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