摘要
针对爬壁机器人的壁面行走可靠性问题,结合爬壁机器人的结构特点,设计一种抛弃传统履带差速转向,避免机器人运动过程中转弯,可全向移动的多履带爬壁机器人。对机器人在不同倾角壁面的行走条件进行分析,得到机器人所需吸附力与壁面倾斜角度的变化规律,分析壁面倾斜角度对所需驱动力的影响。通过搭建样机进行附壁行走试验,验证了机器人在“危险角度”上能够可靠吸附,驱动电机提供的实时扭矩,可满足机器人的驱动要求并验证了分析结果的正确性,该分析结果为多履带全向爬壁机器人的设计和优化提供了基础。
Aiming at the wall walking reliability problem of the wall-climbing robot,combined with the structural characteristics of the wall-climbing robot,a multi-crawler wall-climbing robot that abandons the traditional crawler differential steering and avoids turning during the robot movement can be designed to move all the way.The walking conditions of the robot on different dip angle walls are analyzed,and the variation law of the required adsorption force and wall inclination angle of the robot is obtained.The influence of the wall inclination angle on the required driving force is analyzed.By constructing the prototype to carry out the wall-passing test,it is verified that the robot can reliably adsorb on the"dangerous angle"and drive the real-time torque provided by the motor,which can meet the driving requirements of the robot and verify the correctness of the analysis results.The analysis results provide the basis for the design and optimization of multi-crawler omnidirectional wall-climbing robots.
作者
王明强
陈锦
方海峰
范纪华
WANG Ming-qiang;CHEN Jin;FANG Hai-feng;FAN Ji-hua(School of Mechanical Engineering,Jiangsu University of Science and Technology,Jiangsu Zhenjiang 212003,China)
出处
《机械设计与制造》
北大核心
2021年第5期208-211,216,共5页
Machinery Design & Manufacture
基金
江苏科技大学产业技术研究院重点研发项目“吸附式船体表面喷涂机器人”(201711012)。
关键词
磁吸附
爬壁机器人
多履带
全向移动
Magnetic Adsorption
Wall-Climbing Robot
Multi-Crawler
Omni-Directional
