混合式壁面移动机器人横向移动机构及运动分析

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2007, Vol. 28 ›› Issue (2): 495-499.

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Latitude Moving Mechanism Design and Kinematics Analysis of Hybrid Climbing Robot

XU Zhen-xiang，LIU Rong

Robotics Research Institute, Beijing University of Aeronautics and Astronautics

Received:2005-11-04 Revised:2005-12-24 Online:2007-03-10 Published:2007-03-10
Contact: XU Zhenxiang

Abstract

Abstract:

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 DH.

Key words: climbing , robot, , , latitude , moving , mechanism, , , wheel , rail , drive, , , complicated , surface

CLC Number:

TP242

XU Zhen-xiang;LIU Rong. Latitude Moving Mechanism Design and Kinematics Analysis of Hybrid Climbing Robot[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2007, 28(2): 495-499.

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Latitude Moving Mechanism Design and Kinematics Analysis of Hybrid Climbing Robot

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