摘要
基于履带式爬壁机器人在爬壁过程中受力情况,认为机器人行走机构对壁面的适应程度系数μR是影响其壁面附着力的重要因素,μR取决于履带与壁面的贴合系数μS以及截荷分散系数μL.在机器人设计中可以采取适当加长履带、浮动支撑、载荷分散机构、柔性履带等措施,以提高爬壁机器人的壁面适应能力,实现其在壁面的安全爬行.
On the basis of studying the attractive force between wall climbing robot and steel wall surface, this paper manifested that the adaptive capability coefficient μ R of the robot's climbing wall mechanism is one of the main factors that influence the robot's attractive force to the wall. Further analysis shows that the μ R depends on the contact coefficient μ S between the tracks and the wall and the load distribution coefficient μ L. Several effective approaches including appropriate length of tracks, rear wheel drive, float supporting, load distribution mechanism, flexible tracks and parallelogram mechanism were proposed in the design of the climbing robot to improve the robotic mobile mechanism's adaptive capability on the steel wall surface. These make it possible that the wall climbing robot moves on the wall safely.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1999年第7期851-854,共4页
Journal of Shanghai Jiaotong University
基金
国家教委博士点基金
关键词
爬壁机器人
壁面适应能力
履带式
磁吸附
wall climbing robot
track
adaptive capability on wall surface