摘要
开发了用于机器人壁面自动清洗装置的可越障轮式全方位移动机构 .该机构保证机器人在保持机体方位不变的前提下 ,沿壁面任意方向直线移动或在原地旋转任意角度 。
In accordance with the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can cross obstacles has been developed. This omni directional mechanism can make the wall climbing robot not only run towards all directions in line without changing its pose or rotate definite angle at its original place but also overstep the obstacles such as the window frame in its routine.
出处
《上海大学学报（自然科学版）》
CAS
CSCD
2000年第2期95-99,共5页
Journal of Shanghai University:Natural Science Edition
基金
国家 8 63高技术项目资助课题 !( 980 3 -0 9)
