一种壁面自主移动平台的设计与研究  

Design and Research About a Kind of Crawler Platform for Wall Climbing

作　　者：韩宝玲[1] 付苗苗[1] 翟永杰[1] 赵欣[1] 范少璞 官同凡 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《机械与电子》2013年第11期20-23,共4页Machinery & Electronics

基　　金：教育部大学生创新创业训练计划项目(201210007071)

摘　　要：新型壁面自主移动平台主要由履带行驶系统、真空吸附系统、中央转向系统等部分组成,各系统的功能实现、机构运行、控制效果所涉及的核心技术各不相同。平台融合了负压式吸附和履带式行走的特点,具有吸附牢固、行进稳定、负载力强、操控性好等优势,体现了实用性与创新性结合的设计理念。文章研究了该平台的结构设计、机构安排、吸附原理、行进方式和转向控制等问题,具有一定的参考价值。The crawler platform for wall climb- ing consists of crawler traveling system, vacuum adsorbing system and central turning system. Ever- y part of the platform involves different key tech- niques in function implementation, operation and control effect. Mixing the superiorities of vacuum adsorbing and crawler travelling, the platform can absorb firmly, march smoothly and load strongly, to incarnate the design method of combing practi- cality and creativity. The thesis studies problems of the platform such as structural design, mechanism arrangement, adsorption principle, locomotion and turning control. And it has certain referential val- ue.

关 键 词：真空吸盘 履带 中心转向 移动平台 

分 类 号：TH138[机械工程—机械制造及自动化]