一种轮足复合式爬壁机器人机构建模与分析
| Data(s) |
2008
|
|---|---|
| Resumo |
基于行星轮系运动及双足真空吸附原理,提出了一种新型爬壁机器人机构,介绍了机构的构型及结构特点,推导了运动学方程,分析了沿直线行走、平面旋转和跨越交叉壁面三种运动模式.仿真结果表明该机构具有移动速度快、运动灵活、跨越交叉壁面能力强等特点. A novel wall-climbing robot mechanism is presented based on planetary gear train movement and biped vacuum suction principle.Its configuration and structure characteristics are introduced and kinematics equations are derived.Three locomotion modes of moving straight,turning in plane and traversing cross-wall are described respectively.Simulation results prove that the mechanism has such features as rapid moving speed,excellent maneuverability and strong ability of traversing cross-wall. 国家863计划资助项目(2005AA420230) |
| Identificador | |
| Idioma(s) |
中文 |
| Palavras-Chave | #爬壁机器人 #行星轮系 #真空吸附 |
| Tipo |
期刊论文 |
