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Volume 31 Issue 10
Oct.  2005
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Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(10): 1058-1062.
Bao Yongsheng, Wang Qi, Guo Leiet al. Shape adaptive embedded wavelet image code[J]. Journal of Beijing University of Aeronautics and Astronautics, 2003, 29(12): 1115-1118. (in Chinese)
Citation: Zhang Zhaojun, Yan Ning, Zong Guanghuaet al. Research on colliding and cushioning of wall-suspension robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(10): 1058-1062. (in Chinese)
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Research on colliding and cushioning of wall-suspension robot

  • 1.

    School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • 2. The Equipment Research Institute of the Second Artillery, Beijing 100085, China

  • Received Date: 25 May 2004
  • Publish Date: 31 Oct 2005
    Abstract
  • Based on the requirement of automatically getting on wall and cushioning, the form mechanism of pull force of robot, cause and process of touch wall were analyzed. Utilized the principle of aerodynamics, calculating method of the pulling force was given and the result was verified through experiment on the robot physical prototype. The robot closes to the wall under the effect of pulling force and collides at the same time. In the colliding process, cushion device which is composed of skirt edge and support mechanism undertakes absorption of impulsive energy. The former also guarantees sealing after the robot closing to the wall, its rigidity cannot become too strong. The later also guarantees that the robot walks steadily on the wall, so its rigidity cannot become too weak. The method of defining cushion rigidity was proposed. The criterions of assigning cushion rigidity to skirt edge and the support mechanism were given. This method could be used to engineering analysis of wall-suspension robot.

     

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  • [1] 任治国.基于螺旋桨吸板贴附的高层建筑壁面清洗机器人系统的研究 .北京:北京航空航天大学机械工程及自动化学院,2003 Ren Zhiguo. Research on window-cleaning robot system based on airscrew-plate for high buildings . Beijing:School of Mechanical Engineering and Automation,Beijing University of Aeronautics and Astronautics, 2003(in Chinese) [2] Nishi A. A wall-climbing robot for inspection use . Proc 8th Int Symp Automation and Robotics in Construction (ISARC), 1991.267~274 [3] 黄怀德.振动工程[M] 京:宇航出版社,1993.10~39 Huang Huaide. Vibration engineering[M] Beijing:Astronautics Publishing House, 1993.10~39(in Chinese) [4] 张兆君,颜 宁,周延武,等.壁面清洗机器人本体刚度及振动研究[J] 机器人,2003,25(7):692~696 Zhang Zhaojun, Yan Ning, Zhou Yanwu,et al. Research on rigidity and vibration of wall-cleaning robot body[J] Robot, 2003, 25(7):692~696(in Chinese) [5] Luk B L, Colie A A, Billingsley J. Robug II:an intelligent wall climbing robot . Proceeding 1991 IEEE International Conference on Robotics and Automation,1991, 3:2342~2347 [6] Wang Y, Gao X, Zhao X D. The study and application of wall-climbing robot for cleaning . Proceeding of the Third International Conference on Climbing and Walking Robots, 2000. 789~793
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