爬壁机器人移动机构越障功能研究

应用科学学报 ›› 2001, Vol. 19 ›› Issue (1): 40-43.

爬壁机器人移动机构越障功能研究

谈士力, 张海洪, 龚振邦

上海大学机械电子工程学院特种机器人应用技术研究室, 上海 200072

收稿日期:1999-10-10 修回日期:2000-04-09 出版日期:2001-03-31 发布日期:2001-03-31
作者简介:谈士力(1966-),男,上海人,副教授,博士;龚振邦(1941-),男,上海人,教授,博导.
基金资助:
国家863高技术项目资助课题(9803-09)

The Study and Development of a New Omni-directional Vehicle Applied in the Wall-climbing Robot

TAN Shi-li, ZHANG Hai-hong, GONG Zhen-bang

Advanced Robot Technology Application Laboratory, School of Mechanical and Electronic Engineering, Shanghai University, Shanghai 200072, China

Received:1999-10-10 Revised:2000-04-09 Online:2001-03-31 Published:2001-03-31

摘要/Abstract

摘要： 提出了用于壁面清洗作业爬壁机器人的可越障轮式全方位移动机构,该机构保证机器人在保持机体方位不变的前提下,沿壁面任意方向移动或在原地旋转任意角度,同时能跨越存在于机器人运行路径中的障碍.

关键词: 全方位移动机构, 爬壁机器人, 越障机构

Abstract: Considering the special requirements for wall-climbing cleaning robot, a new type of omni-directional mechanism which can cross obstacles has been developed. This omni-directional mechanism can make the wall-climbing robot not only move in all directions on the wall without changing its pose or rotate at any angle at its original place but also overstep the obstacles such as the window frame in its routing.

Key words: omni-directional vehicle, wall-climbing robot, cross obstacle mechanism

中图分类号:

TP242.6

谈士力, 张海洪, 龚振邦. 爬壁机器人移动机构越障功能研究[J]. 应用科学学报, 2001, 19(1): 40-43.

TAN Shi-li, ZHANG Hai-hong, GONG Zhen-bang. The Study and Development of a New Omni-directional Vehicle Applied in the Wall-climbing Robot[J]. Journal of Applied Sciences, 2001, 19(1): 40-43.