混合式壁面移动机器人横向移动机构及运动分析

 针对结构较复杂的椭球形壁面，提出了由两类不同移动机构组成的混合式壁面移动机器人，一类为框架移动式，实现沿壁面经线（纵向）的攀爬运动；另一类为浮动的轮轨驱动式，实现沿壁面纬线（横向）的运动，二者相互独立。重点介绍了轮轨式横向移动机构，分析了它的工作原理，根据工作环境的几何特征并结合DH法，对复杂约束环境下，机器人的横向运动进行了运动学分析，并进行了样机实验，结果表明通过控制两个驱动轮的角速度可以控制机器人横向运动的速度和姿态。

Latitude Moving Mechanism Design and Kinematics Analysis of Hybrid Climbing Robot

A climbing robot with a hybrid moving mechanism for complicated surface such as ellipse is proposed. The robot has two sets of moving mechanisms being independent each other, one for scrambling along the longitude, and the other for moving along the latitude of the surface. The principle of the latitude moving mechanism with a wheel-rail driving is presented. The latitude motion of the robot constrained by complex geometric condition is analyzed by combing the geometric constraint characteristic and method of D-H. The result of analysis and experiment shows that the posture and velocity of the robot during the latitude motion can be controlled only by controlling the angular velocities of the two driving wheels of the latitude moving mechanisms.