摘要
针对集中空调通风管道的特点,设计了一种新型的集中空调通风管道清扫机器人,介绍了系统功能和结构设计,并详述了其设计和控制特点,如三轮三角形布置的可变距的轮式移动载体,以及实现以不同转弯半径差速转向的控制策略等。使用I-DEAS建立了清扫机器人的三维模型,进行了模型的装配分析,并生产加工了实物样机,验证了方案的合理性。
In this paper a new ventiduct cleaning robot for central air conditioning on the basis of the features of the ventiduct was designed.The system functions,mechanical architecture and the feature of design and control were described in detail,for example,the roller moving carrier with variable wheelbase whose wheels lay out as a triangle,and the control strategy to achieve the function of differential steering at variable turning radius.The three-dimensional model of the robot was created and the assembly analysis was accomplished using I-DEAS.Finally,a pre-industrial prototype was manufactured to verify the rationality of the scheme.
出处
《轻工机械》
CAS
2007年第4期119-122,共4页
Light Industry Machinery
关键词
清扫机器人
移动载体
操作臂机构
控制策略
cleaning robot
moving carrier
operating arm device
control strategy
