| 爬壁机器人全方位移动机构研制 |
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| 引用本文： | 谈士力,张海洪,龚振邦.爬壁机器人全方位移动机构研制[J].上海大学学报(自然科学版),2000,6(2):95-99. |
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| 作者姓名： | 谈士力 张海洪 龚振邦 |
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| 作者单位： | 上海大学,机械电子工程与自动化学院,上海,201800 |
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| 基金项目： | 国家 8 63高技术项目资助课题 !( 980 3 -0 9) |
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| 摘 要： | 开发了用于机器人壁面自动清洗装置的可越障轮式全方位移动机构。该机构保证机器人在保持机体方位不变的前提下，沿壁面任意方面直线移动或在原地旋转任意角度，同时能跨越存在于机器人运行路径中的障碍。
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| 关 键 词： | 全方位移动机构 爬壁机器人 越障机构 运行路径 |
| 修稿时间： | : |
The Study and Development of a New Omni-directional Vehicle Applied in the Wall-climbing Robot |
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| TAN Shi li,ZHANG Hai hong,GONG Zhen bang.The Study and Development of a New Omni-directional Vehicle Applied in the Wall-climbing Robot[J].Journal of Shanghai University(Natural Science),2000,6(2):95-99. |
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| Authors: | TAN Shi li ZHANG Hai hong GONG Zhen bang |
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| Abstract: | In accordance with the special requirements for wall climbing cleaning robot, a new type of omni directional mechanism which can cross obstacles has been developed. This omni directional mechanism can make the wall climbing robot not only run towards all directions in line without changing its pose or rotate definite angle at its original place but also overstep the obstacles such as the window frame in its routine. |
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| Keywords: | omni directional vehicle wall climbing robot cross obstacle mechanism |
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