摘要
由于重力影响使得机器人车体水平姿态发生倾斜,通过质心调节,可以保证车体水平,但由于控制系统存在误差,使得质心不可能正好落在单轮支撑点上,导致机器人车体在单轮悬挂时出现晃动。为此,提出了一种新的机器人行走夹持机构,这种机构采用轮爪复合,便于行走和越障。在分析了机器人车体发生晃动的原因之后,给出了夹持力计算公式,并对夹持机构抑制车体晃动的夹持力进行了计算,为夹紧电机的选取提供了理论依据。
Because the gravity force results in the tilt of robot body＇ s pose, the body of inspection robot enables to keep horizontal pose by adjusting gravity centre of robot. It is impossible to lie in the supporting point between the running wheel and the overhead ground wires for the gravity centre of robot because of the control system error, and it brings on swaying of robot. In order to solve this problem, it presents a novel walking and gripping mechanism. This mechanism that adopts wheel and gripper is convenient for walking and obstacles surmounting. It analyzes the swaying causes, describes the gripping force that restrains the swaying of robot. This provides theoretical reference for choosing the drive motor.
关键词
巡检机器人
行走夹持机构
夹持力计算
Inspection Robot
Walking and Gripping Mechanism
Gripping Force Calculation
