| 六轮磁吸附爬壁机器人铅垂壁面滑移转向点到点路径规划 |
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| 引用本文： | 杨闫景,钱瑞明.六轮磁吸附爬壁机器人铅垂壁面滑移转向点到点路径规划[J].机械设计与制造工程,2013(9):7-12. |
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| 作者姓名： | 杨闫景 钱瑞明 |
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| 作者单位： | [1]93511部队,山西代县034200 [2]东南大学机械工程学院,江苏南京211189 |
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| 摘 要： | 针对一种六轮磁吸附爬壁机器人车辆,基于车轮触地点的速度分析和机器人力平衡关系,建立了铅垂壁面作业时的滑移转向动力学模型。根据坐标系转换得出车辆的转向运动轨迹,分析了左右两侧车轮转速的不同对滑移转向轨迹的影响规律,提出了点到点的车辆通用和简化路径规划方案。研究结果可为六轮磁吸附爬壁机器人车辆点到点的运动规划和轮速控制提供理论依据。
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| 关 键 词： | 爬壁机器人 轮式车辆 磁吸附 滑移转向 动力学模型 路径规划 |
The Point - to - Point Path Planning of a Six - wheel Magnetic Adhesion Wall - climbing Robot Working on Vertical Plane |
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| YANG Yanjing;QIAN Ruiming.The Point - to - Point Path Planning of a Six - wheel Magnetic Adhesion Wall - climbing Robot Working on Vertical Plane[J].Machine Design and Manufacturing Engineering,2013(9):7-12. |
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| Authors: | YANG Yanjing;QIAN Ruiming |
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| Affiliation: | YANG Yanjing;QIAN Ruiming;93511 Troops;Southeast University; |
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| Abstract: | Based on the speed analysis of the contact points that wheels touch the wall and the force balance relationship of robot＇s forces,it establishes a new skid-steering dynamic model of a six-wheel magnetic adhesion wall-climbing robot.Based on this model it analyzes the change law of the skid-steering locus at different ratio of left and right wheel speeds.It illustrates the point-to-point general and simplified path planning schemes.The results can be used for motion planning and speed control of the wall-climbing robot. |
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| Keywords: | Wall-Climbing Robot Wheeled Vehicles Magnetic Adhesion Skid-steering Dynamic Model Path Planning |
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