| 芦红利， 闫娟.基于RecurDyn的4旋翼摆臂式清洗机器人设计[J].轻工机械,2021,39(4):39-38 |
| 基于RecurDyn的4旋翼摆臂式清洗机器人设计 |
| Design of Four Rotor Swing Arm Cleaning Robot Based on RecurDyn |
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| DOI：10.3969/j.issn.1005 2895.2021.04.008 |
| 中文关键词: 爬壁机器人 柔性关节 摆臂越障机构 旋翼推力系统 RecurDyn软件 |
| 英文关键词:wall climbing robot flexible joint swing arm obstacle surmounting mechanism rotor thrust system RecurDyn |
| 基金项目: |
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| 中文摘要: |
| 针对爬壁机器人越障过程产生的控制复杂和过程运动不连续的问题，课题组通过引入柔性关节，在机器人本体上设计了摆臂越障机构及旋翼推力系统，并从运动学角度分析机器人攀爬障碍物时的运动机理，以及建立了机器人壁面攀爬的运动学模型，计算出机器人在不发生失效形式下，旋翼电机理论输出转矩，绘制了旋翼电机输出转矩和壁面角度变化的关系图，并利用RecurDyn软件对爬壁机器人越障过程进行运动学仿真，绘制出机器人重心高度的变化和时间关系图。结果表明：机器人旋翼推力机构的吸附性能良好，机器人能够平稳地在壁面完成爬行和越障。 |
| 英文摘要: |
| Aiming at the problem of the complex control and the discontinuity movement of the climbing robot obstacle navigation process, the swing arm obstacle surmounting mechanism and the rotor thrust system was designed on the robot by introducing the flexible joint. The kinematics model of the robot was established by analyzing the motion mechanism of robot climbing obstacles from the aspect of the kinematics. The theoretical output torque of the rotor motor without failure was calculated and the relation diagram between the rotor motor output torque and the change of wall angle was drawn. [JP2]Using the RecurDyn software, the kinematics simulation of the wall climbing robot obstacle navigation process was carried out, and the change and time relation diagram of robot center of gravity height was plotted. The result shows that the robot rotor thrust mechanism has good adsorption performance, and the robot can climb obstacles steadily on the wall. |
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