具有双负压吸盘的爬壁机器人吸附特性

介绍了一种双负压吸盘式爬壁机器人吸附机构,分析了机器人可靠吸附于垂直壁面的基本吸附条件.基于流体网络理论建立了吸盘模型并得到吸盘在风机突然启动、机器人遇障碍以及风机突然关闭三种情况下的等效电路.通过对等效电路的分析得到吸盘内负压动态响应曲线,进而得到了流阻、流容等吸盘结构参数对吸盘腔内负压的影响关系.最后通过试验和仿真进行了验证.

Study on Adhering Characteristic of Wall-Climbing Robots with Double Negative Suckers

This paper presented an adhering mechanism of wall-climbing robots with double negative suckers and analyzed the basic adhering requirements to ensure the robot to adhere to vertical surfaces. A simple model of the suction cup and three equivalent circuit models in the cases that the vacuum pump suddenly starts or the robot meets obstacles or the vacuum pump suddenly stops were established based on fluidic networks theory. Curves of the dynamic responses of the negative pressure and the flow resistance and flow capacitance's influence on the negative pressure and then the relations between the mechanism dimensions and the negative pressure of the suckers were obtained on the basis of the analysis of three equivalent circuit models. In the end, it was proved by the experiments and simulations.