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结合清洗壁面作业对爬壁机器人提出的特殊要求 ,本文提出了一种可越障式全方位移动机构———车轮组机构 ,并把它用作壁面清洗机器人的驱动机构。该机构不仅能够使机器人在保持机体方位不变的前提下沿壁面任意方向直线移动或在原地旋转任意角度 ,而且能够跨越存在于机器人运行路径中的不可避免的障碍 ,如壁面上的窗框等。本文详细地论述了车轮组机构的组成和爬壁机器人全方位移动功能的实现
Combining with the special requirements of wall climbing robots for cleaning wall work, this paper presents a wheel group mechanism that can be used as the driving mechanism of wall cleaning robot. The mechanism not only enables the robot to move linearly in any direction along the wall or rotate at an arbitrary angle while keeping the orientation of the body unchanged but also can cross the unavoidable obstacles existing in the running path of the robot such as the window frame on the wall or the like . This paper discusses in detail the composition of the wheelset mechanism and the realization of omni-directional movement of the climbing robot