基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。

Research of Dynamics of A Wall-climbing Clean Robot With Propeller and Negative Pressure Suction Device

For the problem of unstable adsorption caused by the decrease of adsorption force of negative pressure device when wall-climbing robot crossing obstacles,a polygon track robot with the propeller mixed negative pressure suction device is designed,dynamics analysis of robot crawling stability and obstacle-surmounting performance was carried.Firstly,according to the climbing wall working principle,the dynamic model of the robot along the glass curtain wall is established,and the theoretical driving torque of the motor is calculated.Secondly,the motion model of the robot in the process of crossing the obstacle is set.And based on the actual stress state of the robot and the wall surface,the kinematics and dynamics of the two failure modes of overturning and sliding of the body in the key stage of crossing obstacles are carried.Then,according to the actual obstacle height of the glass curtain wall,the parameters of the polygonal track and the theoretical driving torque are determined.Furthermore,The experimental prototype is developed for wall-climbing and crossing obstacles tests,and the great crossing-obstacle performance of the designed robot is showed by the results.