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�������պ����ѧѧ�� 2008, Vol. 34 Issue (01) :17-21    DOI:
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��Ρ1, �ź���2*
1. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083;
2. ������ѧ �����ѧԺ, ���� 22527
Climbing technique of cleaning robot for spherical surface
Wang Wei1, Zhang Houxiang2*
1. School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. Department of Informatics, University of Hamburg, Hamburg 22527, Germany

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Abstract�� Based on analyzing the characteristic of cleaning robot, a kind of auto-climbing robot for spherical surface was described, which could scramble on the top of National Grand Theatre by itself. The motion function was described in detail. As an automatic cleaning machine, which can move in all direction on the top of a sphere surface, this robot features in its holding and climbing motion. It is very important for the designer to take more attention to the safety analysis of the climbing motion of the robot. To acquire the detailed motion feature of the robot, the kinematics model of the climbing motion was concluded at first. Then the dynamics of the robot was analyzed by the application of the Lagrange equation. The security during the climbing was discussed in detail using simulation. The force distribution of the front brace and the back brace was computed, which could be used to determine the switch time of the front and back supporting force.
Keywords�� service robot   dynamics analysis   motion control     
Received 2007-01-17;


About author: �� Ρ(1973-),��,�����˲���,������,wangweilab@buaa.edu.cn.
��Ρ,�ź���.����Ļǽ����������������[J]  �������պ����ѧѧ��, 2008,V34(01): 17-21
Wang Wei, Zhang Houxiang.Climbing technique of cleaning robot for spherical surface[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(01): 17-21
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