| 基于运动分离的圆锥幕墙清洗机器人系统设计 |
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| 引用本文： | 唐伯雁,张慧慧,费仁元,宗光华,王巍. 基于运动分离的圆锥幕墙清洗机器人系统设计[J]. 高技术通讯, 2004, 14(12): 59-62 |
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| 作者姓名： | 唐伯雁 张慧慧 费仁元 宗光华 王巍 |
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| 作者单位： | 北京工业大学机械工程及应用电子技术学院,北京,100022;北京航空航天大学机械工程及自动化学院,北京,100083 |
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| 基金项目： | 863计划 (2 0 0 1AA42 2 2 80 )资助项目 |
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| 摘 要： | 由于曲面幕墙要求机器人具有更高的环境适应性能，并对可靠性提出更高要求，所以此前的幕墙清洗机器人研究主要局限于平面或近似平面的幕墙对象，对于曲面幕墙作业对象很少涉及。本文结合广州新机场指挥塔玻璃幕墙的特点，运用运动分离方法设计了一种适用于倒圆锥曲面幕墙清洗机器人系统。实践表明该机器人系统机构简单、重量轻。文章介绍了该幕墙清洗机器人系统结构，并详细分析了外部误差对该机器人系统的影响。
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| 关 键 词： | 机器人 幕墙清洗 运动分离 |
Development of the Robot for the Taper-wall Cleaning |
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| Abstract: | The goal of this research is to enable a light simple robot to clean curtain of taper-wall using the structure of separated motion. Although some robots have been developed for wall cleaning and inspection, but there were few successful robots for curve wall because of the lack of more capability in acclimatization and reliability. A new robot, which can conform to the taper curve curtain wall of the control-tower of new Guangzhou Baiyun International Airport, is designed. In this paper, the system structure of robot is introduced, and the effect of external error on this system is analyzed in details. |
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| Keywords: | Robot Curtain cleaning Separated motion |
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