变拓扑四面体机器人攀爬安全性与参数分析

变拓扑四面体机器人是基于自主纳米群技术的一种具有多重自由度的机器人系统,由可伸缩结构(伸缩杆)和连接部分(节点)组成的四面体结构为基本单元。分析了机器人沿壁面攀爬运动的典型过程,并利用ADAMS软件进行了动态仿真实验。分析了攀爬过程的安全性问题,给出了机器人在垂直壁面和倾斜壁面的静态安全性条件,同时分析了接触力与静摩擦系数对运动特性的影响。结果表明:接触力与静摩擦系数为影响攀爬特性的关键参数,接触力和静摩擦系数越小,在一个运动周期中机器人的有效位移越小,负向速度越大,两者过小时将会导致运动的失效。

Analysis on climbing safe condition and parameters of variable tetrahedron robot

Variable Tetrahedron Robot is a prototype consists of flexible struts and joint node, which based on Autonomous Nano Technology Swarm. Typical processes of climbing are analyzed and the dynamic simulation experiment is carried to the robot. The static stable condition on vertical wall is given. The influence of contact force and static friction coefficient on climbing feature is studied. The simulation results show that: contact force and static friction coefficient are the key parameters affecting climbing features. As contact force and static friction coefficient decrease, the effective displacement is getting smaller and negative velocity getting larger during a motion cycle. The undersize parameters will lead to failure.