爬壁机器人移动机构越障功能研究

The Study and Development of a New Omni-directional Vehicle Applied in the Wall-climbing Robot

提出了用于壁面清洗作业爬壁机器人的可越障轮式全方位移动机构 ,该机构保证机器人在保持机体方位不变的前提下 ,沿壁面任意方向移动或在原地旋转任意角度 。

Considering the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can cross obstacles has been developed. This omni directional mechanism can make the wall climbing robot not only move in all directions on the wall without changing its pose or rotate at any angle at its original place but also overstep the obstacles such as the window frame in its routing.