永磁吸附履带式爬壁机器人转向运动灵活性分析

Analysis of Permanent Magnetic Tracked Wall-Climbing Robot's Turning Agile Capability

根据永磁吸附履带式爬壁机器人的结构特点和运动环境特点,分析该机器人在大半径转向运动下的灵活性.由静力学平衡方程、运动学方程和动力学方程,基于直线运动总功率与转向运动总功率之比的相对功率来定义机器人转向运动灵活系数kA,进而讨论机器人转向运动灵活系数与安全系数的相互关系,优化安全系数的选择范围.根据该安全系数选择范围而设计的履带吸盘完全满足爬壁机器人长时间实际安全应用的要求.

This paper analyzed the turning agile capability of the permanent magnetic tracked wall climbing robot based on the structural characters of the robot and its working condition characters. Upon the robot's static forces equation, kinematic equation and the dynamics equation, the turning agile capability factor kA of the robot is defined, which is based on the ratio of total power of the turning moving and that of the linear moving. The relation between the safety factor and the turning agile capability factor is analyzed, and the range of the safety factor is optimized. The tracked suckers designed on the above results fulfill the requirement of the extended practical use.