摘要
针对一种六轮磁吸附爬壁机器人车辆,基于车轮触地点的速度分析和机器人力平衡关系,建立了铅垂壁面作业时的滑移转向动力学模型。根据坐标系转换得出车辆的转向运动轨迹,分析了左右两侧车轮转速的不同对滑移转向轨迹的影响规律,提出了点到点的车辆通用和简化路径规划方案。研究结果可为六轮磁吸附爬壁机器人车辆点到点的运动规划和轮速控制提供理论依据。
Based on the speed analysis of the contact points that wheels touch the wall and the force balance relationship of robot＇s forces,it establishes a new skid-steering dynamic model of a six-wheel magnetic adhesion wall-climbing robot.Based on this model it analyzes the change law of the skid-steering locus at different ratio of left and right wheel speeds.It illustrates the point-to-point general and simplified path planning schemes.The results can be used for motion planning and speed control of the wall-climbing robot.
出处
《机械设计与制造工程》
2013年第9期7-12,共6页
Machine Design and Manufacturing Engineering
关键词
爬壁机器人
轮式车辆
磁吸附
滑移转向
动力学模型
路径规划
Wall-Climbing Robot
Wheeled Vehicles
Magnetic Adhesion
Skid-steering
Dynamic Model
Path Planning
