摘要
针对现今高楼玻璃幕墙的清洗问题,设计了一种双轮驱动多吸盘玻璃幕墙清洗机器人的爬行机构,建立了机器人的动力学模型。首先分析机器人的受力情况并确定了其安全吸附条件,然后基于Newton-Euler方程建立了满足机器人安全吸附条件的运动方程,最后利用MATLAB软件对机器人进行动力学仿真,分析了机器人吸附力和驱动轮驱动力矩,其仿真结果验证了动力学模型的正确性,同时验证了机器人具有在平滑壁面上稳定移动的能力。通过动力学分析,为机器人的结构优化和运动控制提供了理论依据。
Aiming at the problem of the cleaning of high-rise glass curtain walls,a crawl structure for cleaning glass-curtain wall robot was designed and the dynamic model of the robot was established.Firstly,the force condition of the robot is analyzed and its safe adsorption conditions are determined.Then,the equation of motion is established based on the NewtonEuler equation.Finally,the dynamics simulation of the robot is carried out by using MATLAB software.The adsorption force of the robot and the driving torque of the driving wheel are analyzed.The simulation results verify the correctness of the dynamic model,and verify that the robot has the ability to move stably on a smooth wall.Through dynamic analysis,it provides a theoretical basis for structural optimization and motion control of robots.
作者
贺利乐
黄天柱
刘小罗
HE Li-le;HUANG Tian-zhu;LIU Xiao-luo(Mechanism and Electron College,Xi’an University of Architecture and Technology,Shaanxi Xi’an 710055,China)
出处
《机械设计与制造》
北大核心
2020年第10期265-269,共5页
Machinery Design & Manufacture
基金
西安市高校院所人才服务企业工程项目(CXYJZKD007)。
