共查询到19条相似文献,搜索用时 78 毫秒
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单吸盘真空吸附式爬壁机器人密封性能的分析 总被引:7,自引:1,他引:7
最新研制的单吸盘真空吸附式爬壁机器人可携带不小于10kg的负载在曲率不小于1/3的罐壁弧面上以0 ̄2m/min的速度爬行,并能越过3 ̄4cm高的凸起焊缝或釉面砖墙的沟缝,本文将着重对该机器人的吸盘密封机构及其性能进行分析和研究。 相似文献
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《机器人技术与应用》1998,(3)
日本三菱重工业公司正在销售一种磁性爬壁喷涂机器人。该机器人可以吸附在20毫米以上厚度的建筑物上,磁力可达2000公斤左右,并能沿各种磁性结构,如钢筋墙壁、天花板,甚至潮湿的壁面运动,速度可达10米/分钟。 该机器人系统由一个具有吸附功能的磁性机动系统、喷涂装置、用于清理喷涂表面的预处理装置、个人计算机、遥控操纵机器人的操纵手柄和操纵装置组成。机器人长800 相似文献
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针对爬壁机器人设计了一种新型非接触式的吸盘与吸附面接触状况探测的传感系统,可以有效确定机器人足部吸盘位姿信号,并对吸盘的吸附条件做了分析和探讨;采用C8051F040型单片机来处理超声波测距传感器、倾角传感器和气压传感器的采集信息,通过异步串行方式发送给上位机,由上位机对信息分析计算后控制机器人动作。实验表明,该系统可以实现机器人的可靠吸附和任意夹角的壁面过渡。 相似文献
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Acquisition of Weld Seam Dimensional Position Information for Arc Welding Robot Based on Vision Computing 总被引:1,自引:0,他引:1
Recognition and identification of weld environment and seam dimensional position by computer vision is a key technology for developing advanced autonomous welding robot. Aiming at requirements for recognition of weld seam image characteristics, this paper first presents an improved algorithm of subpixel edge detection based on Zernike moments. Comparing with the Ghosal’s original algorithm, the improved algorithm deals with mask effect and first derivative model on edge gradient direction so that it has the strong robust to noise, self-thinning ability and higher locating precision. An algorithm based on ZMs to extract line is also proposed, the comparative results with SHT and RHT show the method has the highest calculation speed and accuracy. The stereovision technology is developed to identify dimensional position of weld seam by computing dimensional coordinates of the weld seam. According to characteristics of weld seam, view field scope model and stereovision model based on baseline are studied and a stereo matching method is presented. In order to evaluate the algorithms and models presented in this paper, a welding robot systems with single camera fixed on the weld torch end-effector has been established for the robot to identify the dimensional position of typical weld seam by one-item and two-position method. The experiment results on S-shape and saddle-shape weld seams show that the vision computing method developed in this paper can be used for acquiring weld seam dimensional position information in welding robot system. Thus the welding path is mapped before the welding operation is executed. 相似文献
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摘要:准确的直线运动是水冷壁爬壁机器人完成磨损检测工作的前提,为了保证其做直线运动,设计了一种水冷壁爬壁机器人路径跟踪控制律。本文通过建立爬壁机器人的运动学模型,用摄像机采集水冷壁图像,对图像处理并提取直线路径,实现对其位姿的反馈,再根据Backstepping跟踪算法设计路径跟踪控制律对机器人位姿进行控制,同时采用Lyapunov稳定理论对控制律的收敛性进行验证,最后通过MATLAB软件进行仿真实验,仿真结果验证了控制律的有效性。 相似文献
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为实现在不同环境的壁面上自由爬行,设计了应用仿壁虎微纳米粘附阵列的爬壁机器人,建立了机器人的动力学模型及足部与壁面之间的接触模型,并利用机械系统动力学软件ADAMS的仿真功能,对机器人沿垂直壁面爬行的运动特性进行了仿真.利用ADAMS的后处理模块的分析功能,重点研究了在一个运动周期内,模型整体质心的位移、电机转矩以及足部与壁面之间的接触力随时间的变化情况.仿真结果表明该仿壁虎爬壁机器人能够以约26mm/s的速度沿着垂直的壁面平稳地运动,不存在波动和偏离.这为下一步研制仿壁虎爬壁机器人的物理样机提供了理论指导,也为其他仿生机器人的研究提供了参考. 相似文献
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Ig Mo Koo Tran Duc Trong Yoon Haeng Lee Hyungpil Moon Jachoon Koo Sun Kyu Park Hyouk Ryeol Choi 《Journal of Intelligent and Robotic Systems》2013,72(1):57-72
In this paper, we present a wall climbing robot system, called “LARVA”, developed for visual inspection of structures with flat surfaces. The robot has two differential driving wheels with a suspension and an adhesion mechanism. The adhesion mechanism is composed of an impeller and two–layered suction seals. It is designed to provide sufficient adhesion force and be controlled so that the robot can move freely on various wall surfaces. The static and aerodynamic modeling of the adhesion mechanism is given and the analysis of the adhesion mechanism, air leakage, and inner flow are carried out to be useful for the design as well as the control. Finally, the performances of the robot are experimentally verified on several kinds of walls and its feasibility is validated. 相似文献
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基于控制函数的蛇形机器人攀爬运动分析 总被引:1,自引:0,他引:1
为实现对正交关节蛇形机器人多种运动形式的简单、统一控制,从研究蛇形机器人控制函数出发,提出了一种简单的并可同时实现正交关节蛇形机器人蜿蜒运动、行波运动、侧向翻滚运动和螺旋攀爬运动等多种运动形式的控制函数.对蛇形机器人实现螺旋攀爬运动的控制参数进行了分析,并用粒子群优化算法(PSO)对控制参数进行了优化拟合,给出了控制参... 相似文献