基于双线定位机制的幕墙清洁机器人运动系统

A motion system for glass-wall cleaning robot based on dual-line location

幕墙清洁机器人的运动系统是制约其发展的瓶颈之一,本文提出一种新颖的基于"双线定位"机制的运动系统,对其力学结构的稳定性、悬挂绳拉力负载进行了分析,提出了两种跟踪清洁路径的运动控制算法.基于本文提出的运动系统,设计了一种清洁机器人模型.实验表明,基于双线定位机制的清洁机器人能准确、稳定地遍历清洁规划路径.

The motion system of glass-wall cleaning robot is one of the bottlenects restrecting the its development, this paper presents a noval motion system based on dual-line locatiorl, analyzes its mechanical structure stability and hanging rope tensile load, introduces two control algorithm for tracking the cleaning trajectory. Then demonstrates the dual-line location motion system in experiment using a cleaning robot model. Experiments show that motion system based on dual-line location can track the cleaning trajectory precisely and stablely.