壁面爬壁机械人移动平台静力学分析及运行试验  

Running test and static analysis of wall-climbing robot mobile platform

作　　者：汪家斌[1] 李丽荣[1] 陈咏华[1] 陈金金[1] 陈阳[1] 

机构地区：[1]青海大学机械工程学院,青海西宁810016

出　　处：《青海大学学报（自然科学版）》2012年第2期14-21,共8页Journal of Qinghai University(Natural Science)

摘　　要：依据参考文献[6]移动平台静态运行模型,仿真分析在静态运行时可能发生的各种失稳情况(沿壁面滑移、纵向翻转、横向翻转、侧向翻转、法向脱落和下滚等),分析在这些情况下的最小吸附力公式。在实际情况下,各种失稳情况不是单独发生的,各种失稳情况是相互影响的,文中叠加分析纵向倾覆失稳和滑移失稳、侧向倾覆失稳和滑移失稳等现象,从而得知等效吸附力计算公式。再通过参数选取进行了数值计算,得出了各种失稳情况下的吸附力要求。并且进行了移动平台样机试制,在移动平台总重264.6 N吸附系统吸附力3176.0 N时样机安全运行。移动平台样机结合修复机器人其它装置,完成了气刨和焊接试验,移动平台安全运行。结果支持了以移动平台的静力学分析的正确性。According to the static running model of mobile platform in reference 6,various instable statuses,such as sliding along the wall,vertical flip,horizontal flip,lateral flip,fhll off and roll down may occur.We analyzed the minimum adsorption formula under these statuses.In practice,the instable status does not occur independently and is a consequence of interaction of instable factors.We derived the formula for calculating the equivalent adsorption force by superposition analysis of vertical flip,slip and lateral flip.With parameter selection and calculation,we got the adsorption force needed under various instable statuses.Manufacture of prototype was conducted and it run safely with adsorption force of 3176.0N and mobile platform weight 264.6N.The prototype was applied to gouging and welding,and proved the model was right,the adsorption force calculation was also correct.

关 键 词：移动平台 仿真分析 静态运行 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]