| 自攀爬式幕墙清洗机器人设计 |
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| 引用本文： | 唐伯雁,张慧慧,费仁元,宗光华,张厚祥.自攀爬式幕墙清洗机器人设计[J].制造业自动化,2004,26(2):46-49. |
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| 作者姓名： | 唐伯雁 张慧慧 费仁元 宗光华 张厚祥 |
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| 作者单位： | 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 |
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| 基金项目： | 国家863计划机器人主题资助项目(2001AA422280) |
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| 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。
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| 关 键 词： | 自攀爬机器人 机械结构 控制系统 运动功能 |
| 文章编号： | 1009-0134(2004)02-0046-03 |
| 修稿时间： | 2003年10月27 |
Design on the auto-climbing robot for spherical surface |
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| TANG Bo-yan,ZHANG Hui-hui,FEI Ren-yuan,ZONG Guang-hua,ZHANG Hou-xiang.Design on the auto-climbing robot for spherical surface[J].Manufacturing Automation,2004,26(2):46-49. |
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| Authors: | TANG Bo-yan ZHANG Hui-hui FEI Ren-yuan ZONG Guang-hua ZHANG Hou-xiang |
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| Affiliation: | TANG Bo-yan1,ZHANG Hui-hui1,FEI Ren-yuan1,ZONG Guang-hua2,ZHANG Hou-xiang2 |
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| Abstract: | 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. |
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| Keywords: | auto-climbing robot mechanism structure control system motion function |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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