新型爬壁机器人的研制

发布时间：2018-05-11 23:08

本文选题：爬壁机器人 + 机器壁虎　；参考：《重庆大学》2016年硕士论文

【摘要】：越来越多的高层建筑成为现代都市的新景观,这些高楼多以瓷砖和玻璃幕墙作为外立面,每过一段时间就需要对其进行清洗。一直以来,都是由人工来完成高层建筑外立面的清洗工作。然而工作效率低、耗时久,且容易出现事故。因此设计制造出一种可以替代人工完成高层建筑清洗任务的装置,成为从事该领域人员的迫切要求。清洗高层外立面的爬壁机器人是一种壁面移动机器人,该机器人可降低用于幕墙清洗的成本,推动清洗业的发展。本文主要针对壁面清洗机器人本体结构进行了设计分析。论文首先在深入调研现有爬壁机器人技术的基础上,提出了采用真空吸附、足式越障、并联框架式运动的爬壁机器人方案,研制的新型爬壁机器人具有框架式移动功能和足式升降越障功能;该机器人腿部将气动肌腱与平行四边形机构相结合,设计了能调节越障高度的新型越障机构。实验证明,与现有爬壁机器人相比,新研制的运动越障机构在机器人移动能力、负载及越障方面有很大的提高,为该机器人实现可靠稳定作业奠定了很好的基础。其次对设计的机器人进行了静力学建模分析以及动力学建模分析,进行了腿部动力学仿真研究。通过建立了壁面吸附的静力学模型,分析了保证爬壁可靠吸附的吸力条件;然后利用拉格朗日欧拉法进行系统建模,建立了机器壁虎两种典型的动力学模型;最后通过仿真分析,验证了机构的合理性和可靠性。本文设计并研制了一种新型框架式爬壁机器人。它具有以下优点,控制简单、运动可靠灵活,而且越障能力强。其较好的移动越障性能也可用于地面移动机器人上,具有较高的实用意义。
[Abstract]:More and more high-rise buildings have become the new landscape of the modern city. Most of these tall buildings have ceramic tile and glass curtain wall as the exterior facade, and they need to be cleaned every time. All along, is by the manual to complete the high-rise building exterior surface cleaning work. However, it is inefficient, time-consuming and prone to accidents. Therefore, the design and manufacture of a device that can replace manual cleaning tasks for high-rise buildings has become an urgent requirement for personnel engaged in this field. The wall climbing robot is a kind of mobile robot which can reduce the cost of curtain wall cleaning and promote the development of cleaning industry. In this paper, the body structure of the wall cleaning robot is designed and analyzed. Firstly, on the basis of deep investigation of the existing wall climbing robot technology, this paper proposes a wall climbing robot scheme with vacuum adsorption, foot type obstacle surmounting and parallel frame motion. A new type of climbing robot is developed, which has the function of frame movement and foot lifting and surmounting, and the leg of the robot combines the pneumatic tendon with the parallelogram mechanism to design a new obstacle mechanism which can adjust the height of the obstacle. The experimental results show that compared with the existing wall-climbing robot, the newly developed mechanism has a great improvement in mobility, load and obstacle surmounting, which lays a good foundation for the robot to realize reliable and stable operation. Secondly, the static modeling and dynamic modeling of the designed robot are analyzed, and the leg dynamics simulation is carried out. By establishing the statics model of wall adsorption and analyzing the suction conditions to ensure the reliable adsorption on the wall, the Lagrangian Euler method is used to model the system, and two typical dynamic models of the machine gecko are established. Finally, the rationality and reliability of the mechanism are verified by simulation analysis. In this paper, a new frame climbing robot is designed and developed. It has the following advantages: simple control, reliable and flexible movement, and strong ability to cross obstacles. It can also be applied to mobile robots on the ground because of its better mobility and obstacle-surmounting performance, which is of high practical significance.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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