四轮驱动滑动吸盘爬壁机器人的动力学研究

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李志海, 付宜利, 王树国. 四轮驱动滑动吸盘爬壁机器人的动力学研究[J]. 机器人, 2010, 32(5): 601-607.. LI Zhihai, FU Yili, WANG Shuguo. Dynamic Analysis on Four-wheel Driving Wall-climbing Robot with Sliding Suction Cups. ROBOT, 2010, 32(5): 601-607..

摘要研究了四轮驱动滑动吸盘式爬壁机器人在滑动导向运动方式下的动力学问题．首先分析了机器人在壁面上安全移动的运动状态和约束条件，然后对驱动轮支撑力分布、驱动轮与壁面间的横向摩擦力以及密封圈摩擦力进行分析，进而基于牛顿—欧拉法建立了机器人的动力学方程，并用驱动力矩安全系数来表征驱动力矩的安全程度．通过动力学仿真，分析了吸附压力、驱动轮分布、密封圈刚度等对驱动力矩的影响，为四轮驱动滑动吸盘式爬壁机器人结构优化和安全运动控制提供理论依据．

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	李志海
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	王树国

关键词 ：爬壁机器人, 四轮驱动, 动力学, 滑动导向, 驱动力矩

Abstract：Dynamics of the four-wheel driving wall-climbing robot with sliding suction cups in skid-steering mode is studied.First,motion state and constraint of the robot working on wall surface safely are analyzed,then distribution of supporting forces acting on driving wheels,lateral friction force between driving wheel and wall surface,and friction force acting on sealskirt of suction cups are analyzed,and dynamic model of the robot is constructed based on the Newton-Euler method in the end.A safety factor of driving torques is established to denote the safety degree of driving torques.The influence of adhesion force,distribution of driving wheels and rigidity of sealskirt on driving torque is analyzed by dynamic simulation.As a result,it lays the theoretical foundation for mechanism optimization and safe motion control of the four-wheel driving wall-climbing robot with sliding suction cups.

Key words： wall-climbing robot four-wheel driving dynamics skid-steering driving torque

收稿日期: 2009-11-17 录用日期: 2010-06-11

TP242

基金资助:国家自然科学基金资助项目（60675051）

通讯作者: 李志海 E-mail: lzdianzi@163.com

作者简介: 李志海（198- ），男，博士生．研究领域：爬壁机器人，机器人控制．
付宜利（1966- ），男，教授，博士生导师．研究领域：机器人技术，先进制造技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/601

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