圆锥幕墙清洗机器人系统研制  

Development of Robot for Taper Wall Cleaning

作　　者：唐伯雁[1] 张慧慧[1] 费仁元[1] 宗光华[2] 王巍[2] 

机构地区：[1]北京工业大学机电学院,北京100022 [2]北京航空航天大学机械学院,北京100083

出　　处：《仪器仪表学报》2004年第z3期168-170,186,共4页Chinese Journal of Scientific Instrument

基　　金：国家863计划资助项目(2001AA422280)

摘　　要：幕墙清洁机器人的发展潜力被人们广为看好,但目前研究范围主要为平面幕墙,对于曲面幕墙,由于难度大少有成功样机。结合广州白云新机场指挥塔玻璃幕墙的清洗机器人开发,根据指挥塔的结构特点,采用运动分离方法,设计了一种适用于倒圆锥曲面幕墙清洗机器人系统。简要介绍了该机器人机械和控制系统结构。Although the development potential of the robot for wall cleaning was certificated, for the moment the field of study aimed mainly at the flat wall, there was few successful prototype for curve wall. A robot system for the taper wall cleaning on the basis of the character of the control tower was proposed, which adopted the motion separation method. The robot was successfully used for the wall cleaning of Guangzhou new Baiyun airport's control tower. The mechanical structure and control of the robot were introduced.

关 键 词：幕墙清洗机器人 曲面幕墙 运动分离方法 

分 类 号：TH7-55[机械工程—仪器科学与技术]