具有吊索分重的高大建筑清洗机器人系统最短滑轨问题研究

Research on the shortest sliding rail of cleaning robot system having sling sharing weight

依靠真空吸盘在壁面上行走的机器人,由于吸盘数量的限制,无法承受过多的重量,理想的办法是将某些部件(如控制、管缆等)分离,让相应的重量由吊索分担。分离部件沿滑轨滑行并随着吊索的收放与机器人同步行走。这里通过对吊索与分离部件构成的简化弹簧质量系统的运动分析,发现吊索弹性的存在可能导致分离部件的振动,若滑轨行程长度选择不当,会出现分离部件与滑轨端部撞击的现象,这里探讨了最短滑轨的设计问题,并给出了最短滑轨的设计准则及在弱阻尼状态下防碰撞传感器的最小工作范围。

Movement of the simplified spring-mass system composed of the sling and the separate part is analyzed in this paper. Elasticity of the sling will cause the separate part to vibrate. If the length of the sliding rail is not properly chosen, it can result in colliding of the separate part with the both sides of the sliding rail. Designing about the shortest sliding rail is discussed, and the designing criterion of the shortest sliding rail is given.