具有双负压吸盘的爬壁机器人吸附特性  

Study on Adhering Characteristic of Wall-Climbing Robots with Double Negative Suckers

作　　者：潘雷[1] 赵言正[1] 钱志源[1] 付庄[1] 曹其新[1] 

机构地区：[1]上海交通大学机器人研究所，上海200030

出　　处：《上海交通大学学报》2005年第5期804-804,共1页Journal of Shanghai Jiaotong University

摘　　要：介绍了一种双负压吸盘式爬壁机器人吸附机构，分析了机器人可靠吸附于垂直壁面的基本吸附力条件．基于流体网络理论建立了吸盘模型并得到吸盘在风机突然启动、机器人遇障碍以及风机突然关闭三种情况下的等效电路．通过对等效电路的分析得到吸盘内负压动态响应曲线与流阻、流容的影响，进而得到了吸盘机构参数对吸盘腔内负压的影响关系．最后通过试验和仿真进行了验证．This paper presented an adhering mechanism of wall-climbing robots with double negative suckers and analyzed the basic adhering requirements to ensure the robot to adhere to vertical surfaces. A simple model of the suction cup and three equivalent circuit models in the cases that the vacuum pump suddenly starts or the robot meets obstacles or the vacuum pump suddenly stops were established based on fluidic networks theory. Curves of the dynamic responses of the negative pressure and the flow resistance and flow capacitance's influence on the negative pressure and then the relations between the mechanism dimensions and the negative pressure of the suckers were obtained on the basis of the analysis of three equivalent circuit models. In the end, it was proved by the experiments and simulations.

关 键 词：爬壁机器人 负压 吸附特性 动态响应曲线 等效电路 吸附机构 理论建立 流体网络 影响关系 机构参数 吸盘式 吸附力 风机 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TD441[自动化与计算机技术—控制科学与工程]