球面幕墙清洗机器人的自攀爬机构设计  

Design of Self-Scramble Mechanism for Spherical Surface Cleaning Robot

作　　者：唐伯雁[1] 张慧慧[1] 宗光华[2] 费仁元[1] 

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100022 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《中国机械工程》2004年第17期1508-1511,共4页China Mechanical Engineering

基　　金：国家 8 63高技术研究发展计划资助项目( 2 0 0 1AA42 2 2 80 )

摘　　要：针对国家大剧院的超椭球外墙 ,开发了一种采用自攀爬构型的新型清洗机器人。这种机器人没有吸附装置 ,而是通过机器人与壁面构成高可靠性的抓持铰实现在垂直、倾斜的壁面上移动。分析和讨论了机器人的自攀爬机构原理 。This paper presented a novel self-scramble mechanism of wall cleaning robot which was specially designed for the half-ellipsoid out-wall of the National Grand Theater of China. Although some robots had been developed for wall cleaning and inspection, most of them were often restricted by their absorbing devices, which then decreased the reliability and safety. Instead of the absorbing devices, the robot depends on grasping-holding pivots to move on vertical or declining walls.The self-scramble machine was analyzed and discussed in detail and the self-scramble moving procedures were described.

关 键 词：机器人 自攀爬 幕墙清洗 抓持铰 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]