文章基本信息

标题：Mechanical Design and Dynamcis of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning
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作者：Houxiang Zhang ; Jianwei Zhang ; Rong Liu 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2007
卷号：4
期号：4
DOI：10.5772/5670
出版社：SAGE Publications
摘要：This paper presents an auto-climbing robot for cleaning the elliptic half-shell of National Grand Theatre in China. The robot consists of a climbing mechanism, a moving mechanism, two cleaning brushes and supporting mechanisms. The mechanism and unique aspects are presented in detail. A distributed control system based on CAN bus is designed to meet the requirements of controlling the robot. After that the emphasis for discussion is on the motion realization which includes climbing and cleaning movements. The robot independently climbs and descends in the vertical direction and cleans in the horizontal direction. It takes the circling tracks as supports for climbing up and down between strips and moving horizontally along one strip around the ellipsoid. For system design and control purposes, the dynamic models of the climbing and cleaning processes are given applying of the Lagrange equation. Furthermore the force distribution of the front and rear supporting mechanisms is computed in a way that ensures the safety of the climbing process. In the end, the successful on-site tests confirm the principles described above and the robot's ability.
关键词：Climbing robot ; Elliptic Half-shell cleaning ; Movement realization