摘要
研制了一种尺蠖式爬行机器人,介绍了机器人的运动原理、系统结构组成并进行了受力分析,简要叙述了机器人的控制部分原理。该机器人结构上采用两段主体与伸缩腰配合,主体周向120°等间距布置三个接触脚夹紧机构,分别由电机控制进行尺蠖式前进。结果表明:该机器人运行可靠、平稳、控制方便,适应管径范围大,作业距离长,具有较大的负载能力,更适合在垂直方向上工作,有良好的应用价值。
A kind of inchworm crawling robot has been developed, The kinetic element and the structure of the crawling robot are introduced and the stress condition of it is analyzed. The control principle of the robot is also depicted.The structure of the robot is explained as below： adopt two main parts cooperate with flex part, three structures which can sieve the object were arranged with average angle of 120 degree, the structures can inchworm crawl under the control by the electronic machine.The result has shown that this kind robot run credibility, placidly and was controlled facility. The range of the pipe diameter for which it can adapt is wide. The job distance of it is long. Its load capability is larger, It has the better work ability on vertical direction, and has well application value.
出处
《机械设计与制造》
北大核心
2008年第1期179-181,共3页
Machinery Design & Manufacture
