【摘要】 针对大型钢结构如船舶中的检测,防腐等高空危险作业,研究设计一种新的步行式可攀移作业机器人。采用了具有行星齿轮和电磁脚的机器人结构设计,建立了机器人的运动学模型,进行了运动分析,给出了该机器人运动学数值解。通过实例运行仿真分析验证了本设计的可行性。更多还原

【Abstract】 Aiming at solving problems of high-altitude dangerous operation in the large steel construction,such as inspecting and antisepticising in the ship,this paper introduces a new design of walking climbable operation Robot.The design adopts a kind of robot structure which has planetary gear and electromagnet toe.A kinematical model of the robot has been established.Kinematics analysis has been done,and kinematics numerical solution of the robot has been given.The feasibility of this design has been validated by emulate analysis of actual example.更多还原