绳索在绳索上:降低绳索固定系统和绳索驱动立面操作机器人的残余振动
Kangyub Lee1, Sahoon Ahn1, Jeongmo Yang1
1Mechanical Engineering, Hanyang University, 222, Wangsimni-ro, Seoul 04763, Republic of Korea.
Sensors (Basel, Switzerland)
|April 26, 2025
概括
这项研究使用输入成型和干扰观察器减少了建筑清洁机器人的残留振动. 这提高了机器人立面维护系统的稳定性和安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械工程 机械工程
背景情况:
- 建筑物立面的维护,特别是摩天大楼,对于手工工人来说至关重要但危险.
- 机器人解决方案,如双升降机器人 (DAR) 和骑绳移动 (RMA) 正在开发,以实现更安全的立面清洁.
- 连接DAR和RMA的绳上绳 (ROR) 系统可以传输振动,增加DAR运行期间的不稳定性.
研究的目的:
- 为了减少双升机器人 (DAR) 的残余振动.
- 为了提高绳索驱动的机器人立面维护系统的整体稳定性.
- 为了提高自动化建筑外部维护的安全性和效率.
主要方法:
- 模拟绳上绳 (ROR) 系统作为一个简化的串行弹阻尼器系统.
- 分析下调的,绳索驱动的DAR系统的动力学和动力学.
- 应用输入成形控制技术以减轻残余振动.
- 实现一个干扰观察器来解决系统不确定性,如绳索变形和外部力.
主要成果:
- 在双升机器人 (DAR) 中成功降低了残留振动.
- 证明了输入塑造器和干扰观察者控制策略的有效性.
- 通过实验测试验证了拟议的控制方法.
结论:
- 开发的控制策略显著减少了DAR系统中的残留振动.
- 这一进步有助于为建筑立面维护提供更稳定,更可靠的机器人解决方案.
- 这些发现为更安全,更有效的自动化建筑外部维护铺平了道路.
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