摘要
随着高层建筑的日益增多,高空作业需求越来越大,催生了对攀壁机器人的市场需求。设计制作了一种爬墙机器人,它能够到达垂直平面的任何地方,其机械结构合理、紧凑,重量轻,行动灵活,可靠性高,有良好的人机交互接口,可进行远程遥控及自动运行。分析了爬墙机器人在墙壁上灵活运动需解决的关键问题,设计了机器人的结构及吸附和运动的方式,并基于PRO/E三维软件的模拟仿真,制作了采用真空吸附系统的多自由度壁面灵活运行机器人。实现了爬墙机器人在墙壁上可靠吸附与灵活运动的功能。
The increase of high-rise buildings and high-altitude operations give rise to the demand of wall climbing robots. In this paper,we designed a wall climbing robot which can reach anywhere in the vertical plane. The wall climing robot has a reasonable and compact mechanical structure with a small weight,high flexibility and reliability,and a good human-computer interaction interface for remote control and automatic operation. We analyzed the key issues for the flexible movement of the robot,its structure and its pattern of adsorption. Based on the simulation using PRO/E 3D software and the vacuum adsorption system,we designed a mobile robot with a multi-degree of freedom. It can move flexibly on the wall with a good reliability of vacuum adsorption.
出处
《淮海工学院学报（自然科学版）》
CAS
2010年第2期12-15,共4页
Journal of Huaihai Institute of Technology:Natural Sciences Edition
基金
2009年江苏省高等学校大学生实践创新训练计划项目
