摘要
针对桥梁检测的要求,设计出了一种可以在桥底爬行和检测的六足爬壁机器人,通过对六足爬壁机器人运动机理以及腿部结构的理论分析和研究,提出了适应于桥底爬行的横向三角步态和横向四角步态。其中横向四角步态是从横向三角步态改进而来的,与横向三角步态相比,横向四角步态有更好的稳定性和安全性,更适用于桥底作业的这种工作环境。采用UG设计软件和Adams仿真软件相结合的方式分别对以上两种步态进行了仿真,实验结果表明了所提出步态的有效性。
Considering the requirements of the detection of bridge, a kind of six-legged wall-climbing robot is designed, which climb and detect at the bottom of bridge. Based on the research of movement mechanism of the six-legged wall-climbing robot and the structure of the legs theoretical and experimental, the horizontal tripod gait and horizontal square gait are proposed, which prepare to climbe at the bottom of bridge. Horizontal square gait is advanced from horizontal tripod gait. Compared to horizontal tripod gait, horizontal square gait has better stability and security. It is more suitable to the work environment at the bottom of bridge. Two kind of gait is simulated by the Adams simulation software and UG design software and the experimental results show that the ~aits are feasible.
出处
《计算机工程与设计》
CSCD
北大核心
2013年第1期268-272,共5页
Computer Engineering and Design
基金
中央高校基本科研业务费基金项目(2009ZM192)
交通运输部科技基金项目(201131849A400)
