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Analysis of Safe Adsorption Conditions and Motion Characteristics of Rolling Sealed Tracked Wall-climbing Robot
Authors
姜德政
宋屹峰
+4 more
王洪光
胡军
袁兵兵
钟恒
Publication date
1 January 2021
Publisher
Abstract
为完成三峡大坝流道的缺陷检测,设计开发了一种滚动密封结构的履带式爬壁机器人。该机器人以柔性履带作为密封裙实现滚动密封,具备密封结构耐磨性好、通过性和壁面适应性强等特点,而长效稳定吸附是机器人设计的关键问题。本文基于动力学建模方法,提出了滑移参数等指标作为滚动密封爬壁机器人的稳定吸附条件,用于考察机器人运动状态下、特别是滑移转向状态下的吸附稳定性与运动准确性。通过讨论负压力在内的相关设计参数对机器人滑移与稳定吸附的影响,建立了关键设计参数与机器人吸附稳定性的联系。仿真与实验结果表明,所提出的安全吸附条件能够作为开展爬壁机器人运动性能优化设计的理论依据,同时也为建立相应控制模型提供参考。</p
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Last time updated on 12/01/2021