| 一种双负压吸盘壁面清洗机器人及其控制系统研究 |
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| 引用本文： | 张澎涛,钱志源,付庄,赵言正. 一种双负压吸盘壁面清洗机器人及其控制系统研究[J]. 机械设计与制造, 2005, 22(9): 76-78 |
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| 作者姓名： | 张澎涛 钱志源 付庄 赵言正 |
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| 作者单位： | 上海交通大学机器人研究所,上海,200030 |
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| 摘 要： | 介绍了一种壁面适应性较强，能跨越水平窗框类障碍的双吸盘吸附式玻璃壁面清洗机器人系统，对其控制系统进行了研究，并对机器人的越障过程进行了分析。试验表明，该清洗机器人机构简单、控制可靠、清洗效果好，具有一定推广价值。
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| 关 键 词： | 清洗机器人 双负压吸盘 越障 PLC 单片机 无线通信 |
| 文章编号： | 1001-3997(2005)09-0076-03 |
| 收稿时间： | 2004-12-30 |
| 修稿时间： | 2004-12-30 |
Study on a wall-cleaning robot with dual suction cups and its control system |
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| ZHANG Peng-tao,QIAN Zhi-yuan,FU Zhuang,ZHAO Yan-zheng. Study on a wall-cleaning robot with dual suction cups and its control system[J]. Machinery Design & Manufacture, 2005, 22(9): 76-78 |
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| Authors: | ZHANG Peng-tao QIAN Zhi-yuan FU Zhuang ZHAO Yan-zheng |
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| Abstract: | A glass - cutrain wall - cleaning robot with dual suction cups is developed in this paper. The robot cancross horizontal window frames and has good adaptability to wall surfaces. The control system has been studied and the procedure of crossing horizontal window frame has been analyzed. The experiments demonstrated that the robot can be put into practice due to the simple mechanism, robast comtrol and good leaning perfor, amce |
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| Keywords: | Wall- cleaning robot Dual suction cups Crossing obstacles PLC Singlechip Wireless communciation |
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