【作者】 刘万里； 曲兴华； 闫勇刚；

【Author】 Liu Wanli1,Qu Xinghua1,Yan Yonggang2 1.State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,P.R.China2.Precision Engineering Institute,Henan Polytechnic University,Jiaozuo 454003,P.R.China

【机构】 天津大学精密测试技术及仪器国家重点实验室； 河南理工大学精密工程研究所；

【摘要】 开发了一种能够在地面和墙壁上运动的小型轮腿复合式爬壁机器人。该机器人机构融合轮式机构、腿式机构和真空吸附式结构的优点,并且具有重量轻、体积小、反应快速等特点。可以根据不同的地形条件变换运动模式,利用轮子实现机器人在室内外环境下高速远距离运动;利用四条独立摆动腿和真空吸盘实现机器人在光滑壁面上灵活地爬行和转向。基于DSP技术开发的控制系统保证了机器人功耗低、可靠性好、实时性高的控制要求。试验验证了该机器人运动灵活,具有很好的环境适用性和爬壁能力。更多还原

【Abstract】 This paper develops a miniature wheel-legged climbing robot which can move on the ground and climb on the wall surfaces.The robot system combines the merits of wheeled mechanism,legged mechanism and vacuum-sorbs mechanism,and possesses many advantages,such as less weight,small volume,simplicity structure and quickly response.The robot can change the moving modes according different conditions of terrain;it moves on the ground with high speed and remote dis-tance using wheeled system,and climbs flexibly on the smooth wall surfaces using four impendent-swing-legs and vac-uum-sorbs system.The control system based on DSP technology is adopted to ensure the robot to be with low power con-suming,good reliability and high real-time characters.The Theoretical analysis and experiment results show that the climbing robot has high mobility,good environment adaptability and climbing wall surface ability.更多还原