六轮滑动转向爬壁机器人壁面运动动力特性分析  

Analysis of Dynamic Characteristics During Wall Movement of Six-wheel Skid-steer Wall-climbing Robot

作　　者：周依霖 张华[1] 张响亮 ZHOU Yilin;ZHANG Hua;ZHANG Xiangliang(Key Laboratory of Robot & Welding Automation of Jiangxi Province,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学江西省机器人与焊接自动化重点实验室,南昌330031

出　　处：《机械设计与研究》2018年第6期4-9,共6页Machine Design And Research

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA041003);江西省重大创新项目(20143ACE50002)

摘　　要：针对一种六轮滑动转向爬壁机器人的壁面运动动力学问题开展了相关研究。通过引入驱动轮纵向滑动率,建立了考虑机器人纵向和侧向滑动的运动学模型。基于车辆动力学理论中的轮胎离散模型,分析了驱动轮与壁面之间的摩擦力学特性,进而建立了机器人壁面滑动转向动力学模型。基于上述模型,仿真分析了不同壁面倾角下机器人运动过程质心运动轨迹、质心侧向滑动速度、右侧驱动轮的总驱动力和纵向滑动率的变化规律,为机器人的运动控制和路径规划提供了参考依据。The dynamics during wall movement of the six-wheel skid-steer wall-climbing robot is studied.By introducing the longitudinal slip rate of driving wheel,the kinematic model considering the longitudinal and lateral sliding of robot is established.The friction mechanical characteristic between driving wheel and wall is analyzed based on the discretized tire model of automobile dynamics,then the dynamic model of robot skid-steer on the wall is established.Based on the model,the change rules of kinematic and dynamic parameters during robot steering on the wall with different inclinations are simulated and analyzed.As a result,it can provide the references for motion control and path planning of six-wheel skid-steer wall-climbing robot.

关 键 词：爬壁机器人 六轮 滑动转向 动力学 

分 类 号：P242[天文地球—测绘科学与技术]