摘要
针对一些工作场合对爬壁机器人有较高的越障性能要求,设计了一种包含4个三角形履带轮组构成的磁吸附爬壁机器人。首先设计了三角履带爬壁机器人的整体结构,研究了越障过程中机器人结构变化,以及爬行越障和翻转越障通过原理。建立了翻转越障过程动力学模型,该模型体现了机器人机构尺寸等因素对电机输出力矩的影响。根据此模型,能确定机器人越障过程所需最小驱动力矩。利用ADAMS软件进行仿真验证,仿真结果证明了动力学模型的正确性,表明了机器人结构简单,具有较强的越障能力。
A new magnetic adsorption wall-climbing robot with 4 triangular tracks is designed to help the robot cross the obstacle for some work occasions. Firstly, the construction of the robot and the structural deformation of obstacle-climbing process are studied. Then the principle of the creeping-obstacle way and the turning-over obstacle way are expounded. The dynamic model for the turning-over obstacle process is built and the model describes the influence of structure size on motor' torque. Based on this model, the minimum driving torque for the turning-over obstacle process can be determined. A virtual model is simulated by ADAMS, which prove that the dynamic model for the turning-over obstacle process is correct,and the robot with triangular tracks can climb over higher obstacle.
出处
《机械设计与制造》
北大核心
2017年第S1期205-208,共4页
Machinery Design & Manufacture
基金
安徽省科技攻关项目(06012019a)
关键词
三角形履带
磁吸附
爬壁机器人
越障
虚拟仿真
Triangular Track
Magnetic Adsorption
Wall-Climbing Robot
Obstacle-Climbing
Virtual Simulation
