| 爬壁机器人移动机构越障功能研究 |
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| 引用本文： | 谈士力,张海洪,龚振邦.爬壁机器人移动机构越障功能研究[J].应用科学学报,2001,19(1):40-43. |
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| 作者姓名： | 谈士力 张海洪 龚振邦 |
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| 作者单位： | 上海大学机械电子工程学院特种机器人应用技术研究室, 上海 200072 |
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| 基金项目： | 国家863高技术项目资助课题(980309) |
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| 摘 要： | 提出了用于壁面清洗作业爬壁机器人的可越障轮式全方位移动机构,该机构保证机器人在保持机体方位不变的前提下,沿壁面任意方向移动或在原地旋转任意角度,同时能跨越存在于机器人运行路径中的障碍.
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| 关 键 词： | 全方位移动机构 爬壁机器人 越障机构 |
| 文章编号： | 0255-8297(2001)01-0040-04 |
| 收稿时间： | 1999-10-10 |
| 修稿时间： | 2000-04-09 |
The Study and Development
of a New Omni-directional Vehicle Applied in the Wall-climbing Robot |
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| TAN Shi li,ZHANG Hai hong,GONG Zhen bang.The Study and Development
of a New Omni-directional Vehicle Applied in the Wall-climbing Robot[J].Journal of Applied Sciences,2001,19(1):40-43. |
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| Authors: | TAN Shi li ZHANG Hai hong GONG Zhen bang |
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| Institution: | Advanced Robot Technology Application Laboratory, School of Mechanical and Electronic Engineering, Shanghai University, Shanghai 200072, China |
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| Abstract: | Considering the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can cross obstacles has been developed. This omni directional mechanism can make the wall climbing robot not only move in all directions on the wall without changing its pose or rotate at any angle at its original place but also overstep the obstacles such as the window frame in its routing. |
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| Keywords: | omni directional vehicle wall climbing robot cross obstacle mechanism |
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