Principle and application of vibration suction method
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摘要: 无源振动吸附是最近提出的一种机器人的吸附方式,是爬壁机器人研究的关键技术之一.提出了一种新的无源振动吸附数学模型,设计了振幅和频率可调节的振动吸附实验平台.实验结果证明了无源振动吸附数学模型的正确性;分析了无源振动吸附原理实现稳定吸附的条件,以无源振动吸附原理为指导设计了振动吸附模块并对该模块进行了性能测试,对不同振动参数下吸附模块的抗失效能力进行了实验;实验结果证明这种吸附模块可以作为吸附足模块应用到爬壁机器人上.Abstract: Vibration suction is a kind of suction method for robots which was newly introduced by researchers. A new mathematical model of vibration suction was brought forward and a testing device was designed to measure the air pressure of the inner chamber of the suction cup. Experiments under different vibration parameters including surface, amplitude and frequency were carried out and the results of the experiments confirm the accuracy of the new model. Stable suction condition was studied in order to achieve suction to wall. According to the theory of vibration suction, a new type of vibration suction module was designed. A performance test experiment was carried out for vibration suction module. The test was carried out to measure the failure pull, the failure flexural torque and the failure torque moment. The result of the test proves the reliability of the module to be used as a foot of a wall climbing robot.
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Key words:
- vibration suction method /
- vibration suction module /
- wall climbing robot
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[1] Zhu Tao,Liu Rong, Wang Xu D, et al. Principle and application of vibrating suction method Robotics and Biomimetics.Piscataway, NJ: IEEE,2006: 491-495 [2] 于占泉.基于振动吸附原理的爬壁机器人研制 .北京:北京航空航天大学机械工程及自动化学院,2006 Yu Zhanquan.Development of wall climbing robot based on theory of vibration suction .Beijing: School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics,2006(in Chinese) [3] 汪旭东.基于振动吸附的多关节小型爬壁机器人 .北京:北京航空航天大学机械工程及自动化学院,2007 Wang Xudong. Multi-joint mini wall climbing robot based on the vibration adsorption . Beijing: School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics,2007(in Chinese) [4] 吴瑞祥,王之栎,郭卫东,等.机械设计基础[M].北京:北京航空航天大学出版社,2002:16 Wu Ruixiang,Wang Zhili,Guo Weidong, et al. Foundation of mechanical design[M]. Beijing:Beijing University of Aeronautics and Astronautics Press,2002:16(in Chinese) [5] Minor M, Dulimarta H, Danghi G, et al. Design, implementation, and evaluation of an under-actuated miniature biped climbing robot IEEE International Conference on Intelligent Robots and Systems. Piscataway, NJ: IEEE,2000,3:1999-2005 [6] Minor Mark A, Mukherjee Ranjan. Under-actuated kinematic structures for miniature climbing robots[J]. Journal of Mechanical Design, 2003,125(2):281-291 -
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