摘要
针对单体爬壁机器人越障能力低而多关节爬壁机器人壁面运动能力差的问题,提出了一种具有对接能力的模块化电磁吸附爬壁机器人设计。主要介绍了单体吸附爬壁模块、越障关节结构设计以及爬壁机器人的控制系统设计。该机器人的单个模块能够独立吸附行走,而多个模块对接后则能利用越障关节完成壁面越障。实验证明此种模块化可对接爬壁机器人爬壁性能良好,不仅能在壁面进行越障,且能够在单目视觉系统导引下实现壁面对接和分离。
It presents a modular electromagnetic climbing robot with dock-able capacity, and the design aims to solve problems that the single-bodyclimbing robot can＇t cross obstacles, while multi-body climbing robot lacks mobile flexibility. It mainly describes the single-moduledesign,the obstacle-crossingjoint and the control system.Each module of the robot can climb independently,and after docking together, the modules can also overcome obstacles withthe obstacle-crossing joint. Experiments prove that the modules climb on the vertical surface swiftly and overcome obstacles smoothly. Furthermore, the modulesalso complete successful docking test based on the monocular system.
出处
《机械设计与制造》
北大核心
2014年第12期187-189,193,共4页
Machinery Design & Manufacture
关键词
模块化
磁吸附
可对接
爬壁机器人
Modular
Magnetic Adsorption
Dock-Able
Climbing Robot
