基于双自由度万向轮机构的爬壁机器人运动状态检测  

Motion State Detection Technique for Wall-Climbing Robot Base on Two Degree of Freedom Universal Wheel Mechanism

作　　者：郑军[1] 邱强[1] 李鹏[1] 潘际銮[1] 

机构地区：[1]清华大学机械工程系先进成形制造教育部重点实验室,北京100084

出　　处：《上海交通大学学报》2015年第3期379-382,共4页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)项目(SS2013AA041003)资助

摘　　要：设计了基于双自由度万向轮机构的速度测量装置,该装置由双自由度滚轮、旋转编码器、角位移传感器和水平姿态传感器等构成.机器人运动时,利用水平姿态传感器检测爬行机构的转动角速度,双自由度万向轮机构利用角度传感器测量速度方向,利用光电编码器测量速度大小,实现对机器人运动状态的测量.根据其测量结果,建立了电动机输入和控制点运动状态之间的关系,为机器精确任务操作提供了基础.The speed measuring mechanism base on two degree freedom universal wheel was designed, which consisted of a two degree of freedom roller, a rotary encoder, an angular displacement sensor and a horizontal attitude sensor and so on. When the robot moved, its attitude angle and angular velocity were detected by the level posture sensor, its velocity direction was detected by the angle sensor, and its speed was measured by the photoelectric eneoder, thus, the motion state of the robot can be obtained by this measuring device, and the relationship between the motor input and control point motion was also estab- lished, provide basis for the precise operation of the robot.

关 键 词：爬壁机器人 万向轮 运动状态检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]