| 多吸盘爬壁机构的承载能力和倾复趋势研究 |
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| 引用本文： | 钱晋武,龚振邦,张启先. 多吸盘爬壁机构的承载能力和倾复趋势研究[J]. 上海大学学报(英文版), 1999, 3(2): 148-152. DOI: 10.1007/s11741-999-0048-x |
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| 作者姓名： | 钱晋武 龚振邦 张启先 |
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| 作者单位： | Qian Jinwu Gong Zhenbang (School of Mechanical and Electronic Engineering，Shanghai University) Zhang Qixian (Beijing University of Aeronautics and Astronautics) |
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| 摘 要： | １ＩｎｔｒｏｄｕｃｔｉｏｎＴｈｅｓａｆｅｔｙｏｆｗａｌｃｌｉｍｂｉｎｇｒｏｂｏｔｉｓｏｆｇｒｅａｔｉｍｐｏｒｔａｎｃｅｉｎｒｏｂｏｔｄｅｓｉｇｎａｎｄｇａｉｔｐｒｏｇｒａｍｍｉｎｇ．Ｓａｆｅｔｙｒｅｑｕｉｒｅｍｅｎｔｓｉｎｃｌｕｄｅｂｏｔｈａｎ...
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| 收稿时间： | 1998-06-18 |
On maximal weight moment and overturn tendency of multi-sucker wall-climbing mechanism |
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| Jinwu Qian,Zhenbang Gong,Zhang Qixian. On maximal weight moment and overturn tendency of multi-sucker wall-climbing mechanism[J]. Journal of Shanghai University(English Edition), 1999, 3(2): 148-152. DOI: 10.1007/s11741-999-0048-x |
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| Authors: | Jinwu Qian Zhenbang Gong Zhang Qixian |
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| Affiliation: | 1. School of Mechanical and Electronic Engineering, Shanghai University
2. Beijing University of Aeronautics and Astronautics |
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| Abstract: | For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model. |
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| Keywords: | robot wall climbing mechanism load capacity statics |
| 本文献已被 CNKI 万方数据 SpringerLink 等数据库收录！ |
