一种爬壁机器人真空吸附性能分析与运动切换策略  

The Characteristics of Vacuum Absorption and Transition Strategy of Switching for a Wall-climbing Robot

作　　者：吕鑫[1] 王从庆[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《机械科学与技术》2014年第2期164-169,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：2010年江苏省科技支撑(工业)计划项目(BE2010190)资助

摘　　要：为了分析爬壁机器人的吸附性能及优化运动切换策略,建立了一种双框架结构爬壁机器人的吸附结构,采用真空技术分析了有效抽速、流导、泄漏等影响机体吸附能力的主要因素。通过理论分析和实验对吸盘漏率和吸附系统切换策略进行了研究,得到了3种情况下的吸盘漏率参数值与吸盘的响应和释放曲线以及吸盘组切换时的压力动态过程曲线。提出了一种有效的吸盘动态吸附性能分析方法,研究了吸盘动态切换的过程。为真空系统吸附性能的分析和运动切换策略优化提供了直观而有效途径。Abstract： In order to analyze the adsorptive ability and optimize the transition switching strategy for a wall-climbing robot, the adsorption structure of vacuum absorption for a wall-climbing robot is established. The major factors of effective pumping speed, conductance, leakage that affect adsorption capacity of the robot are analyzed by using vacuum technique. The leak rate of the sucker and the switching strategy of adsorption system are designed by theo- retical analysis and experiment respectively. Then the leak rate＇s parameters of the sucker are calculated. The values of the leak rate, the response and release curves, and the pressure behavior curves of the switching action of the suckers under three circumstances are given respectively. The effective analyzing method of leakage rate is pro- posed, and the process of dynamic switch is studied. An intuitive and effective way to analyze the adsorptive ability and optimize the transition switching strategy for a wall-climbing robot is provided

关 键 词：爬壁机器人 真空吸附 吸附性能 分析方法 动态切换 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]