Design and Analysis of a Novel Wall-climbing Robot Mechanism
文献类型：会议论文
| 作者 | Dong WG(董伟光) ; Wang HG(王洪光); Liu AH(刘爱华); Li ZH(李贞辉)
|
| 出版日期 | 2011 |
| 会议名称 | 2011 International Conference on Mechatronics and Information Technology |
| 会议日期 | August 16-19, 2011 |
| 会议地点 | Shenyang, China |
| 关键词 | wall-climbing mechanism hybrid locomotion kinematics |
| 页码 | 346-351 |
| 通讯作者 | 董伟光 |
| 中文摘要 | A novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Natural Science Foundation of China (NSFC), |
| 会议录 | Advanced Engineering Forum
 |
| 会议录出版者 | Trans Tech Publications Inc |
| 会议录出版地 | Enfield, NH |
| 语种 | 英语 |
| ISSN号 | 2234-991X |
| ISBN号 | 978-3-03785-336-8 |
| WOS记录号 | WOS:000317993700067 |
| 源URL | [http://ir.sia.cn/handle/173321/7712]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Dong WG,Wang HG,Liu AH,et al. Design and Analysis of a Novel Wall-climbing Robot Mechanism[C]. 见:2011 International Conference on Mechatronics and Information Technology. Shenyang, China. August 16-19, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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