摘要
针对清洗壁面作业对机器人提出的特殊要求 ,研制了可越障轮式全方位移动机构—— -车轮组机构 ,该机构保证机器人在姿态保持不变的前提下 ,沿壁面任意方向直线移动、或在原地旋转任意角度 ,同时能跨越存在于机器人运行路径中的障碍 .该机构不需要传感装置来检测障碍 ,不需要复杂的辅助机构来实现平面上运动和越障运动之间的转换 .
Considering the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can avoid obstacles was developed. This omni directional mechanism can make the wall climbing robot not only run towards all directions in line without changing its posture or rotate along definite angle at its original position, but also avoid the obstacles such as the window frame in its routine.
出处
《机器人》
EI
CSCD
北大核心
2001年第4期341-345,共5页
Robot
基金
国家 8 63高技术资助项目 ( 863- 5 1 2 - 980 3- 0 9)
关键词
全方位移动机构
爬壁机器人
越障机构
omni directional vehicle, wall climbing robot, cross obstacle mechanism
