双柔索式彩钢板壁面清洗机器人运动控制与试验研究  

Experimental Research on Motion Control of Double-Cable Traction Robot for Cleaning Color Steel

作　　者：于帅帅 顿向明[1] 山磊 高爱军 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]常州远量机器人技术有限公司,江苏常州213000 [3]宁波介量机器人技术有限公司,浙江宁波315500

出　　处：《机械与电子》2017年第11期65-71,共7页Machinery & Electronics

基　　金：江苏省科技厅重点研发计划(BE2015057);上海交通大学中央高校基本科研业务费资助(16JCHY03)

摘　　要：针对变电站彩钢板清洗工作的要求,设计一种双柔索式的壁面清洗机器人。该机器人以DSP作为核心芯片,通过对柔索长度、角度和滚刷压力值的采集,控制调平机构改变机器人重心的相对位置,解决了清洗机器人位姿平衡的问题和清洗力均匀的问题。经试验表明,该机器人清洗效果良好,可操作性强,减轻了人工作业的工作强度,降低了人工作业的风险,为相关领域的产品设计提供一种思路。To meet the requirements of cleaning the color steel plate in substation,a double-cable wall climbing robot for cleaning is designed in this paper.DSP is used as the core chip of the robot.By collecting the length and angle of the cables and the pressure value of the roller brush,the leveling mechanism is controlled to change the relative position of the center of gravity of the robot,thus the balance problem of the wall-climbing robot and the uniform problem of cleaning force are solved.The experiments show that the robot has good cleaning effect and strong maneuverability,which reduces the workload of cleaning workers and the risk of manual work,and thus it provides an idea for the design of product in related fields.

关 键 词：牵引机器人 双柔索式 彩钢板清洗 自平衡 DSP控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]