自攀爬式幕墙清洗机器人设计  

Design on the auto-climbing robot for spherical surface

作　　者：唐伯雁[1] 张慧慧[1] 费仁元[1] 宗光华[2] 张厚祥[2] 

机构地区：[1]北京工业大学机电学院,北京100022 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《制造业自动化》2004年第2期46-48,59,共4页Manufacturing Automation

基　　金：国家863计划机器人主题资助项目(2001AA422280)

摘　　要：以国家大剧院椭球壳体的清洗为应用背景,设计了首台复杂曲面自攀爬式机器人样机。首先简单介绍了机器人系统的机械结构组成;控制系统采用基于CAN总线的网络结构,并以P80C592单片机为核心构成分布节点控制器,软件采用模块化设计;在此基础上对机器人运动功能实现进行了讨论。作业实验表明样机系统的组成原理合理,机械结构和控制系统方案成功可靠。Based on analyzing the characteristic of the climbing robot, a new kind of auto-climbingrobot is proposed , which is used for cleaning the spherical surface of National GrandTheatre. After the mechanism structure is introduced , a distributed controller based onCAN bus is designed to control the robot, which is established mainly composed of theP80C592. The systematic software is programmed by modularization method. Finally, themotion function is described in details. The specimen has achieved designed previously.

关 键 词：自攀爬式幕墙清洗机器人 CAN总线 设计 机械结构 控制系统 高层建筑 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU976.4[自动化与计算机技术—控制科学与工程]