基于ADAMS的小型爬壁清洁机器人建模与仿真  

Modelling and Simulation of Mini-wall-climbing Cleaning Robot Based on ADAMS

作　　者：周少玲 毛志伟[2] 葛文韬[2] 张华[2] 

机构地区：[1]江西省工业职业技术学院,江西南昌330095 [2]南昌大学机电工程学院,江西南昌330031

出　　处：《南昌大学学报（工科版）》2012年第3期248-252,共5页Journal of Nanchang University(Engineering & Technology)

基　　金：国家863高技术研究发展基金资助项目(2007AA04Z24);江西省科技厅工业基金资助项目(S00043)

摘　　要：基于定轴及行星轮系运动,提出了一种小型爬壁清洁机器人,机器人采用双足真空吸附原理,阐述了机器人的结构,分析了清洗、平面旋转、行走和越障4种运动模式。为检验设计方案的可行性,运用ADAMS软件对各运动模式进行了仿真,仿真结果表明:机器人能够完成预期动作并具有运动灵活及驱动数目少等特点。本机器人的外形尺寸约为366 mm(长)×174 mm(宽)×165 mm(高),质量约为5 kg。A mini-wall-climbing cleaning robot was presented based on axis gear train and planetary gear train movement.Biped vacuum suction principle was adopted for the robot.Its configuration was stated and four locomation modes of cleaning,turning in plane,moving and transmitting barrier were described,respectively.In order to verify the effectiveness of the design,each locomotion mode was simulated based on ADAMS.Simulation results proved that the robot could accomplish excepted movements and has such features as few driving numbers and excellent maneuverability.The overall dimension of the robot was 366 mm（long）×174 mm（width）×165 mm（height）.The weight of the robot was about 5 kg.

关 键 词：爬壁机器人 真空吸附 行星轮系 ADAMS 

分 类 号：TH138[机械工程—机械制造及自动化]