一种轮式攀爬机器人的研究与设计

Research and Design of a Wheeled Climbing Robot

针对在城市建设基础设施中的多种复杂环境,为了降低由于高工作业带来的人身财产危害,设计了一种轻巧的轮式攀爬机器人。基于机器人攀爬静力学分析,确定了机器人的重要参数,先后完成了机器人攀爬机构和锁杆机构两大关键机构的设计,提出机器人攀爬控制策略。在Solidworks环境下完成了机器人的虚拟样机建模,并搭建试验样机对机器人进行载重攀爬测试和适应性测试。实验表明,机器人20kg负载条件下,攀爬速度达到3.24m/s,攀爬自旋角2.24°,同时机器人可以在不同直径下作业,机器人满足设计要求。

In order to decreasing the damage of the overhead working, a deft wheeled climbing robot is designed for the application under the complex enviroment in urben construction. Based on the climbing statics analysis of the robot, major parameters of the robot are obtained. Climbing and lock ingparts are designed as the two key mechanisms in climbing robot, and the climbing control strategy is achieved. Virtual prototype model is established under Solidworks environment. Heavy climbing and adaptability experiments of the robot are performed based on the experimental prototype. Finally, the experiments show that under a 20kg load condition, the climbing speed of the robot is 3.24in/s, and the spin angle is 2.24°; at the same time, the robot can work under different diameters, which proves that the robot meets the design requirements.