[机械模具数控自动化专业毕业设计外文文献及翻译]【期刊】一个能够控制手动消防设备的垂直移动的机器人-外文文献

AdvancedRobotics,Vol.16,No.6,p.557560(2002) VSPandRoboticsSocietyofJapan2002.A TechnicalnoteAverticallymovingrobotabletogriphandrailsforbullet5re-bullet5ghtingHISANORIAMANONationalResearchInstituteofFireandDisaster,3-14-1Nakahara,Mitaka,Tokyo181-8633,Japan,amanofri.go.jpKeywords:Fire-bullet5ghtingrobotics;disasterresponserobotics;rescuerobotics;urbansearchandrescue.1.INTRODUCTIONTherearemanyhigh-risecondominiumsandladdertracksareusedagainsthigh-risebuildingbullet5re.However,theirheightismuchhigherthanthereachableheightoftheladders.Ontheotherhand,therehavebeensomestudiesofrobotsmovingverticallyonwallsbymeansofsuckers.However,theirclimbingspeedandreliabilitywasnotsufbullet5cientforuseinanactualbullet5re-bullet5ghtingoperation.Therefore,Iproposeaverticallymovingrobotthatutilizesbalconyhandrailsasastep.Ihavedevelopedafull-sizetrialrobotwithahybridcontrolsystemthatconsistsofnon-linearfeedbackandsequentialmethods.Finally,Iconcludedthattheverticallymovingrobotisusefulforbullet5re-bullet5ghtingagainsthigh-risecondominiumsfromtheresultsofexperiments.Thus,Iintroducetheoutlineoftherobotandexplaintheperformanceoftherobot.2.OUTLINEOFTHEROBOTAphotographoftherobotisshowninFig.1.Thedimensionsare4.0minheight,0.5minwidthand0.4mindepthapproximately.Themassisabout38.5kg.Therobotconsistsoftwogrippersandthreeseriallinks.Thethreelinksareconnectedwithrotatingjoints;thetwogrippersareinstalledthroughrotatingjointsoneachendoftheconnectedlinks.Grippers1and2arethesame,althoughtheyareinstalledinreversefortheconnectedlinks.Links1and3arethesameexceptfortheinstalledelectricaldevices.Thecomputeranditsinterfacesystemsaremountedtolink1,themotordrivecircuitsareinstaledtolink3.Links1and3areinstalledtothelink2symmetrically.Therobotworksonanelectricalpowerofdirectcurrent48Vandthepowerissuppliedfromoutside.Thepowersupplylinesareconnectedtothecenteroflink2.Directcurrentmotorsareusedasactuators.Theirratedpoweris150W.558 H.AmanoFigure1.Photographofverticallymovingrobot.Inordertocontroltherobot,Iuseahybridcontrollerconsistingofajointspacecontrollerandasequentialcontroller.Thejointspacecontrollerisdesignedbasedonthenon-linearfeedbackmethod.Thedesiredtrajectorieswereplanedforthejointspacecontroller.3.ROBOTMOTIONInthissection,Iexplaintherobotmotionbriebullet6y.AsideviewoftherobotmotionisshowninFig.2.Theshapeoftherobotisshownroughlyeachstraightlinerepresentseachlinkandgripperoftherobot,andthejointsoftherobotarerepresentedbycircles.Themotionisdividedintothefollowingbullet5veparts.Step1.Therobotreleasesthelowerbullet6orhandrail.Gripper2isliftedvertically.Step2.TherobotswingsGripper2tooutsideofthebalcony.Step3.Gripper2isliftedup.Gripper2andLink3gothoughtheinsideofLink2.EachlinkandGripper2keepssomespacebetweenthehandrailstoavoidcollisionwiththeobstaclesstickingoutfromthebalcony.Step4.Gripper2isliftedupalso.Theupperbullet6oorintervalisnotclearatthebeginningofthemotion.ThentherobottemporarilyliftsGripper2ashighaspossible.Step5.Gripper2isletdownverticallyandgetscaughtpassivelythehandrailoftheupperbullet6oor.Therobothasgoneuponebullet6oor,comparingthebullet5nalstateandinitialstateofthemotion.Therobotclimbsbullet6oorsoneafteranotherbyrepeatingthismotion.Averticallymovingrobotabletogriphandrails 559Figure2.Outlineofrobotmotion.Howevertherobotisupsidedown,andthusitisneededtoswitchjoint1tojoint4,joint2tojoint3,joint3tojoint2andjoint4tojoint1forclimbingnextbullet6oorup.4.PERFORMANCEIperformedexperimentsatseveralbullet6orintervalsfrom2.50to3.20matintervalsof0.10m.Therobotwasabletoclimbbullet6oorswhoseintervalisupto3.10m.Therequiredtimedependsonthebullet6oorinterval.Idiscustherequiredtimetoclimbonebullet6oor,dividingthemotionattheendofStep3showninFig.2.Therequiredtimeofthebullet5rstpartdependsonthelowerbullet6oorinterval.Althoughthesecondpartdependsonboththelowerandupperbullet6oorintervalstrictly,Iregarditasdependingonlyonthesecondpart.Theassumptionagreeswellwiththeexperimentalresults.Therequiredtimeofthebullet5rstpartisshowninTable1andthesecondpartisshowninTable2.Itisshownonlytheresultsofevery0.20minthetablestomakethetablessimples.Thetimeforswitchingcontrollersisincludedinthesecondpart.Forexample,ittakes18.8sinthecasewhenthelowerbullet6orintervalis3.10mandtheupperbullet6oorintervalis2.50m.Theclimbingspeedis0.149m/sinthiscase.Iconsideredthattherobotclimbsthemeanvalueofthelowerandupperbullet6orinterval,i.e.therobotclimbs2.8minthiscase.560 H.AmanoTable1.Timerequiredforbullet5rstpartLowerbullet6orinterval(m)2.502.702.903.10Time(s) 6.236.496.787.13Table2.TimerequiredforsecondpartLowerbullet6orinterval(m)2.502.702.903.10Time(s) 11.6711.1610.599.90Themaximumspeedis0.182m/sontheconditionthatbothlowerandupperbullet6orintervalsare3.10m.Theslowestcaseisthatbothbullet6oorintervalsare2.50mandthespeedis0.140m/s.Icalculatedthemeanvalueoftheclimbingspeed.Itis0.161m/s.5.CONCLUSIONSTheauthorconcludesthattheverticallymovingrobotdesignedisusefulforbullet5re-bullet5ghtingagainsthigh-risecondominiums.Itbecomesclearthatthisrobotcanclimbupbuildingswithinareasonabletime.Furthermore,thisrobotcanclimbbuildingswhosebullet6oorintervalvariesfrom2.50to3.10m.Therobotisjustafull-sizetrialmodelandthereexistssometechnicalproblemswithwaterresistance,durability,andreliabilitytodeploytherobotinbullet5restationsanduseitinactualbullet5re-bullet5ghting.However,thebasicpartsofthedevelopmenthavebeencompleted.REFERENCES1.H.Amano,T.J.TarnandK.Osuka,Developmentofverticallymovingrobotwithgrippinghandrailsforbullet5rebullet5ghtingnumericalsimulationstudy,in:Proc.2000JapanUSAFlexibleAutomationConf.(2000).2.H.Amano,K.OsukaandT.J.Tarn,Experimentalstudyofverticall