磁吸附轮式擦窗机器人动力学建模与仿真  

Dynamics Modeling and Simulation on Magnetic Adsorption Wheel of Window Cleaning Robot

作　　者：孙立新[1] 李峰亮 董鹏[1] 王小旭 SUN Li-xin;LI Feng-liang;DONG Peng;WANG Xiao-xu(School of Mechanical Engineering Hebei University of Technology,Tianjin 300131,China)

机构地区：[1]河北工业大学机械工程学院

出　　处：《机械设计与制造》2020年第1期256-259,共4页Machinery Design & Manufacture

基　　金：机器人学国家重点实验室基金课题（401385）

摘　　要：针对磁吸附轮式双面擦窗机器人(WCWR)进行动力学建模。分析其在匀速运动情况下,不发生倾覆和不同程度打滑情况下所需最小磁力,并对最小磁力与机器人航向角建模,研究磁力与位姿关系。引入车辆动力学理论,对单个驱动轮进行受力分析,并研究车轮打滑现象,同时引入滑转率概念,由此建立滑转率、航向角与车轮扭矩关系式,并进行建模仿真,以此来研究与设计驱动系统。从而为磁吸附轮式擦窗机器人(WCWR)在打滑情况下的设计提供理论基础。并以此理论为基础选择合适磁力与扭矩进行设计与实验检测理论准确性。Dynamic modeling is based on magnetic adsorption wheel of double-sided cleaning robot of window(WCWR)in it.The minimum magnetic force is required under the condition of constant motion and without any overturning and slippage. The minimum magnetic force and the robot heading angle are modeled to study the relationship between magnetic force and pose.It introduces the theory of vehicle dynamics,and analyzes the force of single driving wheel,and studies the phenomenon of wheel slip,and introduces the concept of slip rate,and establishes the relationship between slip rate,heading angle and wheel torque,and simulates and designs the system. So as to provide a theoretical which is basis for the selection of magnet,cleaning friction coefficient,driving wheel friction coefficient,driving torque selection.

关 键 词：擦窗机器人 轮式驱动 最小磁力 滑转率 扭矩 

分 类 号：TH16[机械工程—机械制造及自动化] TH113.32