【摘要】 针对清洗壁面作业对机器人提出的特殊要求 ,研制了可越障轮式全方位移动机构———车轮组机构 ,该机构保证机器人在姿态保持不变的前提下 ,沿壁面任意方向直线移动、或在原地旋转任意角度 ,同时能跨越存在于机器人运行路径中的障碍。该机构不需要传感装置来检测障碍 ,不需要复杂的辅助机构来实现平面上运动和越障运动之间的转换更多还原

【Abstract】 Considering the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can overcome obstacles was developed. This mechanism incorporates one motor, one driving module, one steering module. The driving module has a new type of arm wheel design, in which the change between wheel running and arm creeping occurs as a dynamical phenomenon, and requires no sensor for discriminating between wall surface and window frames and no mechanism for alternating between wheel running and arm creeping modes. Since no sensor is required, the reliability in an extreme environment is high.更多还原