爬壁机器人的轮式移动机构的转向功耗  

Turning power losses in the wheeled locomotion mechanism for a wall climbing robot

作　　者：桂仲成[1] 陈强[1] 孙振国[1] 张文增[1] 

机构地区：[1]清华大学机械工程系,先进成形制造教育部重点实验室,北京100084

出　　处：《清华大学学报（自然科学版）》2008年第2期161-164,168,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家“八六三”高技术项目(2007AA04Z258);高等学校博士学科点专项科研基金资助项目(20060003069)

摘　　要：移动机构转向功耗是爬壁机器人的关键性能参数。该文基于Herz接触理论建立了轮式移动机构转向功耗计算模型,仿真分析了分别采用纯滚动转向、滑动转向及滚动-滑动混合转向的3种典型轮式移动机构的原地转向功耗,并与双履带式移动机构进行了比较。研制了上述3种轮式移动机构样机。根据仿真及实验结果确定爬壁机器人采用纯滚动转向差动驱动方案,移动机构的原地转向阻力接近直线行驶时的滚动阻力,转向功耗小。The turning power loss in the wheeled locomotion mechanism （WLM） is a key parameter for wall-climbing robots. A model is developed to compute the turning power loss of WLMs based on Herz contact theory. Simulations are carried out to compute the point-turn power loss of three typical WLMs using explicit steering, skid steering and explicit-skid steering schemes, and a dual-tracked locomotion mechanism. The calculated results agreed well with measurements of prototypes of the three WLMs. The explicit steering mechanism with a differential drive was selected as the best wall-climbing robot based on the simulation and experimented results. The turning power loss of the WLM is quite low with the point-turn resistance of the WLM close to the rolling resistance of a straight run.

关 键 词：爬壁机器人 轮式移动机构 转向功耗 Herz接触理论 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]