赵言正, 门广亮, 闫国荣, 王炎. 爬壁机器人全方位移动机构的研究[J]. 机器人, 1995, 17(2): 102-107.
引用本文: 赵言正, 门广亮, 闫国荣, 王炎. 爬壁机器人全方位移动机构的研究[J]. 机器人, 1995, 17(2): 102-107.
ZHAO Yanzheng, MEN Guangliang, YAN Guorong, WANG Yan. THE STUDY AND DEVELOPMENT OF THE ALL-DIRECTIONAL VEHICLE APPLIED IN THE WALL-CLIMBING ROBOT[J]. ROBOT, 1995, 17(2): 102-107.
Citation: ZHAO Yanzheng, MEN Guangliang, YAN Guorong, WANG Yan. THE STUDY AND DEVELOPMENT OF THE ALL-DIRECTIONAL VEHICLE APPLIED IN THE WALL-CLIMBING ROBOT[J]. ROBOT, 1995, 17(2): 102-107.

爬壁机器人全方位移动机构的研究

THE STUDY AND DEVELOPMENT OF THE ALL-DIRECTIONAL VEHICLE APPLIED IN THE WALL-CLIMBING ROBOT

  • 摘要: 所谓全方位移动机构,它是由N个(N≥3)定向滑移轮组成的车体,无需绕垂直于车辆平面的轴作任何转动,仅靠轮子的转向与转速的不同组合,便可实现沿任意方向直线前进的功能,并能在原地旋转任意角度.这种机构在爬壁机器人上使用有其突出优点,运动灵活,能行走到任意位置.本文对全方位移动机构进行研究及设计.

     

    Abstract: The all-directional vehicle which is consist of more than three directional sliding wheels can run towards any direction in line depending on the different combination of wheel's speed and rotation while the vehicle should not make any rotate around the axis vertical to the plane of it.And the vehicle can rotate defi-nite angle on its original place.This all-directional vehicle can make the wall-climbing robot have such pecu-liarity as movability and can move to anywhere.

     

/

返回文章
返回