面向复杂曲面的爬壁机器人机构及运动学分析

针对表面附有轨道的复杂曲面,提出了一种能够沿轨道移动的爬壁机器人机构.由于环境约束的复杂性,提出了功能分离的模块化机构设计思想,将机器人的功能划分为攀爬及姿态调整和沿轨道移动两种功能,并相应地设计了两套运动机构.四足爬行机构实现机器人的攀爬及姿态调整功能;轮轨机构完成沿轨道快速移动功能.对抓持与姿态调整运动进行了详细分析,并以球形曲面为例,得出相关关节控制变量的解析表达式.定性地分析了机构在其它曲面下,相关关节的变化形式.理论分析及设计实例表明机构对布有轨道的复杂曲面具有较好的适应性.

Mechanism and kinematics analysis of climbing robot for complex curved surfaces

A robot mechanism for complex curved surface with rail was proposed in order to enable the robot to move fast on the complex curved surface. An idea of modularity mechanism designing based on function separate was applied because of the environment with complex constraint. The robot functions consist of scramble and pose adjusting and moving fast along rail, which are realized by two different mechanisms respectively. Scramble and pose adjusting is implemented by quadruped mechanism and moving fast along rail is implemented by wheel-rail mechanism. The movement of scramble and pose adjusting was analyzed, and the analytic equation about control variables of relative joints was obtained for sphere surface. The changing of the relative joints in other different curved surfaces was analyzed in quality. The theory analysis result and the design example show the robot mechanism can adapt different complex curved surface with rails and the control is easy.