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	爬壁机器人的轮式移动机构的转向功耗
	桂仲成 ; 陈强 ; 孙振国 ; 张文增 ; GUI Zhongcheng ; CHEN Qiang ; SUN Zhenguo ; ZHANG Wenzeng
	2010-05-13 ; 2010-05-13
关键词	爬壁机器人 轮式移动机构 转向功耗 Herz接触理论 wall climbing robot wheeled locomotion mechanism turning power loss Herz contact theory TP242
其他题名	Turning power losses in the wheeled locomotion mechanism for a wall climbing robot
中文摘要	移动机构转向功耗是爬壁机器人的关键性能参数。该文基于Herz接触理论建立了轮式移动机构转向功耗计算模型,仿真分析了分别采用纯滚动转向、滑动转向及滚动-滑动混合转向的3种典型轮式移动机构的原地转向功耗,并与双履带式移动机构进行了比较。研制了上述3种轮式移动机构样机。根据仿真及实验结果确定爬壁机器人采用纯滚动转向差动驱动方案,移动机构的原地转向阻力接近直线行驶时的滚动阻力,转向功耗小。; The turning power loss in the wheeled locomotion mechanism (WLM) is a key parameter for wall-climbing robots. A model is developed to compute the turning power loss of WLMs based on Herz contact theory. Simulations are carried out to compute the point-turn power loss of three typical WLMs using explicit steering, skid steering and explicit-skid steering schemes and a dual-tracked locomotion mechanism. The calculated results agreed well with measurements of prototypes of the three WLMs. The explicit steering mechanism with a differential drive was selected as the best wall-climbing robot based on the simulation and experimented results. The turning power loss of the WLM is quite low with the point-turn resistance of the WLM close to the rolling resistance of a straight run.
语种	中文 ; 中文
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/30842]
专题	清华大学
推荐引用方式 GB/T 7714	桂仲成,陈强,孙振国,等. 爬壁机器人的轮式移动机构的转向功耗[J],2010, 2010.
APA	桂仲成.,陈强.,孙振国.,张文增.,GUI Zhongcheng.,...&ZHANG Wenzeng.(2010).爬壁机器人的轮式移动机构的转向功耗..
MLA	桂仲成,et al."爬壁机器人的轮式移动机构的转向功耗".(2010).

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