摘要
针对高层建筑玻璃幕墙的清洗要求,采用模块化的设计方法,研究了轮腿式壁面清洗机器人控制系统。爬壁机器人系统采用多吸盘真空吸附方式,轮腿式与轮式相结合的运动方式,与高度自适应的清洗系统集成,并配备多种传感器,结构简单,壁面适应能力及越障能力强,具有较高的作业效率和智能化水平。研究了其遥控方式与自动方式下的吸附系统控制、运动控制、越障与姿态控制,以及清洗作业控制。
Aiming at the cleaning demand of glass curtain wall of high-rise building, the control system of a wheel-legged wall cleaning robot was investigated adopting modularized design method. The wall climbing robot was with multi-suckered vacuum adsorption mechanism and two sets of moving mechanisms of wheel-leg and wheel. A cleaning system automatically adaptive to height variation and various sensors were applied to this wall climbing robot, which made the robot with higher operation efficiency and higher intelligence. The wheel-legged wall cleaning robot was with simple mechanism ,flexible wall adaptability and strong ob- stacle crossing ability. The adsorption system control, motion control, overstepping obstacle control, posture control and cleaning operating control in remote control and auto-control mode were investigated in detail.
出处
《现代制造工程》
CSCD
北大核心
2013年第11期20-24,共5页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(51106133)
江苏省高校自然科学基金项目(12KJB510032
10KJB470010)
江苏省水利动力工程重点实验室开放基金项目(K090022)
