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针对不同类型的壁面情况对爬壁机器人提出的运动要求,设计一种新型爬壁机器人。该机器人可以实现水平壁面到竖直壁面的过渡以及竖直壁面到水平壁面的过渡。对机器人的运动性能以及壁面过渡能力进行了详细的分析。建立机器人与壁面模型,通过ADAMS软件进行运动学和动力学仿真;试验表明,该机器人壁面运动性能优良且具备很好的壁面越障过渡能力。
Aiming at the motion requirements of climbing robot for different types of wall conditions, a new type of climbing robot is designed. The robot can realize the transition from the horizontal wall to the vertical wall and the transition from the vertical wall to the horizontal wall. The robot’s movement performance and the wall transition ability were analyzed in detail. The robot and the wall model are established, and the kinematics and dynamics simulation are carried out by using the ADAMS software. The experiments show that the robot has excellent wall motion performance and good wall transition barrier capability.