仿人型爬杆机器人的设计  

Design of climbing rod humanoid robot

作　　者：鄢华林[1] 姜飞龙[1] 赵瑞[1] 周超[1] 

机构地区：[1]江苏科技大学机械工程学院,江苏镇江212003

出　　处：《机械》2010年第12期58-59,共2页Machinery

摘　　要：仿人型爬杆机器人的设计,通过模仿人爬树的动作,即用双手和双脚分别夹放树干,配合身体伸缩实现上下爬行,从而实现爬杆机器人的蠕动式爬升。由于蜗轮蜗杆承载能力强并且具有很好的自锁能力,在需要具有很强自锁能力的机械中,蜗轮蜗杆机构被广泛应用。爬升部分采用电机正反转驱动蜗杆带动蜗轮旋转,通过带动四杆机构的摆动,实现爬升的动作,并对爬升过程中的杆进行了受力的分析,确定了其爬升的必要条件。The design of climbing rod humanoid robot, through imitating people climb tree, that is to climb tree with worm and worm gear, combining the up and down movement of the body, to accomplish pneumatic climbing. As the worm and worm gear has good load and self-locking ability, which is widely used in the places where there is a strict need of self-locking ability in the mechanical area. To achieve the climbing, motor is used to drive the worm and worm gear, through the positive and reverse of the motor, force is then transmitted to the four-bar device in the lifting part, the four-bar device＇s swing to finish the climbing movement. During the climbing process, the force of the four-bar is analyzed, and the necessary condition for lifting is determined.

关 键 词：蜗轮蜗杆 四杆机构 爬杆机器人 仿人型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]