曲面幕墙清洁机器人攀爬技术

针对国家大剧院超椭球外表面的清洗问题,设计了一种新型自攀爬机器人.机器人具有全方位运动能力,相对于擦洗运动而言,攀爬运动是影响机器人作业安全性的主要因素.分析了攀爬运动的运动学模型,利用拉格朗日方法对该状态下的动力学问题进行了研究,并针对攀爬运动的特殊性,对机器人前后俯仰支撑控制问题进行分析,结合建筑物表面特点并依靠仿真,得到机器人作业过程中俯仰机构受力分布曲线,为机器人攀爬支撑力的切换提供了理论依据.

Climbing technique of cleaning robot for spherical surface

Based on analyzing the characteristic of cleaning robot,a kind of auto-climbing robot for spherical surface was described,which could scramble on the top of National Grand Theatre by itself.The motion function was described in detail.As an automatic cleaning machine,which can move in all direction on the top of a sphere surface,this robot features in its holding and climbing motion.It is very important for the designer to take more attention to the safety analysis of the climbing motion of the robot.To acquire the detailed motion feature of the robot,the kinematics model of the climbing motion was concluded at first.Then the dynamics of the robot was analyzed by the application of the Lagrange equation.The security during the climbing was discussed in detail using simulation.The force distribution of the front brace and the back brace was computed,which could be used to determine the switch time of the front and back supporting force.