摘要
结合清洗壁面作业对爬壁机器人提出的特殊要求 ,本文提出了一种可越障式全方位移动机构———车轮组机构 ,并把它用作壁面清洗机器人的驱动机构。该机构不仅能够使机器人在保持机体方位不变的前提下沿壁面任意方向直线移动或在原地旋转任意角度 ,而且能够跨越存在于机器人运行路径中的不可避免的障碍 ,如壁面上的窗框等。
Considering the Special Requirements for Wall climbing Cleaning Robot, a new type of omni directional mechanism which can cross obstacles is developed. This omni directional mechanism can make the wall climbing robot not only run towards all direction in line without changing its pose or rotate definite angle at its original place but also overstep the obstacles such as the window frame in its routine. In this paper, the mechanism structure and the kinematics of the robot is discussed in detail.
出处
《机电一体化》
2000年第4期15-18,共4页
Mechatronics
基金
国家 8 63高技术项目 !(863 5 12 0 3 0 9)
关键词
全方位移动机构
爬壁机器人
越障机构
运动学
omni directional mechanism wall climbing robot cross obstacle mechanism
