Abstract
A self-adjusted adsorption strategy is developed for an aircraft skin inspection robot with double frames to improve adsorption safety and movement stability. The principal aim is to determine the optimal value of adsorption force when the robot slips or overturns on the fuselage. A pneumatic system that consists of suction cup and cylinder control is designed. Static force analysis shows that the adsorption force of the aircraft skin inspection robot is related to the curvature of the fuselage. The relationship between the minimum value of adsorption force and offset angle of the robot barycenter is established with the least-squares support vector regression algorithm. Pulsewidth modulation is then applied to control the pressure difference in the suction cup. Experimental results prove the feasibility of suction cup control with the self-adjusted adsorption strategy.
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Jiayue Gu is a Master’s student in the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interests include robot motion control, nonlinear control, and adaptive control.
Congqing Wang received his Ph.D. degree from Beijing University of Science and Technology in 1995. He is a Professor in the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. His research interests are in the areas of robotics, pattern recognition, and intelligent control.
Xuewei Wu is a Ph.D. candidate in the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. Her research interests include robot motion control, switched systems, and nonlinear control.
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Gu, J., Wang, C. & Wu, X. Self-adjusted adsorption strategy for an aircraft skin inspection robot. J Mech Sci Technol 32, 2867–2875 (2018). https://doi.org/10.1007/s12206-018-0542-9
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DOI: https://doi.org/10.1007/s12206-018-0542-9