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题名:
Design and Analysis of a Novel Wall-climbing Robot Mechanism
作者: Dong WG(董伟光); Wang HG(王洪光); Liu AH(刘爱华); Li ZH(李贞辉)
作者部门: 空间自动化技术研究室
通讯作者: 董伟光
会议名称: 2011 International Conference on Mechatronics and Information Technology
会议日期: August 16-19, 2011
会议地点: Shenyang, China
会议主办者: Natural Science Foundation of China (NSFC),
会议录: Advanced Engineering Forum
会议录出版者: Trans Tech Publications Inc
会议录出版地: Enfield, NH
出版日期: 2011
页码: 346-351
收录类别: CPCI(ISTP)
ISSN号: 2234-991X
ISBN号: 978-3-03785-336-8
关键词: wall-climbing mechanism ; hybrid locomotion ; kinematics
摘要: A novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance.
语种: 英语
产权排序: 1
WOS记录号: WOS:000317993700067
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/7712
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Dong WG,Wang HG,Liu AH,et al. Design and Analysis of a Novel Wall-climbing Robot Mechanism[C]. 2011 International Conference on Mechatronics and Information Technology. Shenyang, China. August 16-19, 2011.Design and Analysis of a Novel Wall-climbing Robot Mechanism.
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