黄华, 王虎林, 王庆粉, 史方青. 一种基于行星履带轮越障与混合双吸附补偿的爬壁机器人的设计与研究[J]. 机器人, 2022, 44(4): 471-483.DOI: 10.13973/j.cnki.robot.210419.
HUANG Hua, WANG Hulin, WANG Qingfen, SHI Fangqing. Design and Study on a Wall-climbing Robot Based on Planetary Gear Track Obstacle-Surmounting and Hybrid Double Adsorption Compensation. ROBOT, 2022, 44(4): 471-483. DOI: 10.13973/j.cnki.robot.210419.
Abstract：To address the problems such as weak obstacle-surmounting performance, slow movement, and insufficient adsorption force when the wall-climbing robot works on complex wall surfaces, a wall-climbing robot based on planetary gear track obstacle-surmounting and hybrid double adsorption compensation is designed, and the performances of movement and obstacle-surmounting on the wall are studied. Firstly, a mechanical model is built according to the movement principle of the robot working on the wall. In addition, the adsorption force required by the robot to move on the wall and surmount the obstacle is calculated. Furthermore, the adsorption force compensation model and the planetary gear track obstaclesurmounting model in the climbing and surmounting phases during the obstacle-surmounting process are analyzed with the stress distribution taken into consideration. Also, the relationship among maximum obstacle-surmounting height, critical working conditions, and optimal adsorption force distribution is discovered. On this basis, a simulation model is built to conduct static and dynamic simulations of the two common failure modes including slip and overturn, and the conditions for its stable work are also analyzed. Experiments show that the wall-climbing robot can move on the wall and surmount obstacle stably, which demonstrates that the robot has excellent performances in flexible movement, stable adsorption, and robust obstacle-surmounting.
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