一种新型爬壁机器人机构及运动学研究

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,推导了运动学正、逆解方程式,规划了直线行走、平面旋转及交叉面跨越三种运动模式.机构构型及运动模式的分析表明,该机构具有体积小、运动特性较好的特点.仿真结果证明,该机器人在运动过程中所需吸附力矩较小且占据的空间较少.

This paper presents a novel climbing robot mechanism.Its configuration and structure characteristics are introduced and the forward and inverse kinematics equations are derived.Three locomotion modes are presented,i.e.moving forward,turning and transmitting orthogonal planes.Analysis on the configuration and locomotion modes shows that this mechanism has a small volume and good motion performance.Simulation results prove that the robot needs less suction moments and motion space during locomotion.