一种滚动密封式爬壁机器人动力学建模与分析

Dynamics Modeling and Analysis of a Rolling Sealed Wall-climbing Robot

介绍了一种滚动密封式爬壁机器人,分析了其密封与运动机理。提出了一种多履带协调运动的爬壁机器人动力学建模方法,推导出该机器人直线运动及转向动力学方程。建立了直线运动及转向时履带牵引力与机器人姿态角之间的关系,分别计算出采用滑动密封和滚动密封方式的机器人在运动过程中的摩擦阻力并进行了比较分析。仿真和样机实验表明该爬壁机器人可沿壁面行走与越障,具有摩擦阻力小、负载能力大及对壁面适应性强等特点。

A rolling sealed wall-climbing robot was introduced herein and its sealing and motion mechanisms were analyzed.A dynamics modeling method of wall-climbing robots with multi-track coordinated motions was proposed,and the linear motion and steering dynamics equation of the robots were derived.The relationship among the tracked traction forces and the attitude angles of the robot during linear motion and steering was established.The frictional resistance during the motion of the robot using sliding seal and rolling seal was calculated and compared.The simulation and prototype experiments verify that the wall-climbing robot may walk along the wall and overcome obstacles,and has the characteristics of small friction resistance,large load capacity and strong adaptability to wall surfaces.