Liu Shutian, Dai Shuling, Zhang Yalinet al. Improvement of HLA/RTI real-time performance by scheduling periodic and aperiodic tasks[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(1): 110-114. (in Chinese)
Citation: Wang Wei, Zhang Houxiang. Climbing technique of cleaning robot for spherical surface[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(01): 17-21. (in Chinese)

Climbing technique of cleaning robot for spherical surface

  • Received Date: 17 Jan 2007
  • Publish Date: 31 Jan 2008
  • 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.

     

  • [1] 王巍,宗光华. 灵巧壁面移动机器人运动学和动力学研究[J]. 北京航空航天大学学报,2003,29(9):763-766 Wang Wei, Zong Guanghua. Research for the kinematics and dynamics models of a flexible glass-wall cleaning robot[J]. Journal of Beijing University of Aeronautics and Astronautics,2003,29(9):763-766 (in Chinese) [2] 刘淑霞,王炎. 爬壁机器人技术的应用[J]. 机器人,1999,21(2):193-199 Liu Shuxia, Wang Yan. The application of wall-climbing robot[J]. Robot,1999,21(2):193-199 (in Chinese) [3] 张厚祥,宗光华. 全气动擦窗机器人的实现[J]. 液压与气动,2001,22(11):5-8 Zhang Houxiang, Zong Guanghua. Pneumatic robot for glass-wall cleaning[J]. Chinese Hydraulics & Pneumatics,2001,22(11):5-8 (in Chinese) [4] Sepanta Skhavat, Petr Svestka. Multilevel path planning for oonholonomic robots using semiholonomic subsystems[J].The International Journal of Robotics Research,1998,17(2):169-192 [5] 张厚祥. 幕墙清洗机器人系统相关问题研究 . 北京:北京航空航天大学机械工程及自动化学院,2003 Zhang Houxiang. Research on the wall cleaning robotic system for the high buildings . Beijing: School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 2003 (in Chinese) [6] Szcerba Roboert J, Chen Danny Z. Planning shortest paths among 2D and 3D weighted regions using framed-subspaces[J]. The International Journal of Robotics Research,1998,17(5):531-546 [7] Ooyama N. Achievements for robots operated in extreme environment [J]. Trans of Japanese Society of Mechanical Engineering,1991,9(5):623-627 [8] Luk B L, Collie A A, Billingsley J. Robug II: An intelligent wall climbing robot[J]. Trans of IEEE Robotics and Automation,1991,20(4):2342-2347 [9] 刘毅朴,时学黄,刘荣暄. 工程力学习题指导(运动学与动力学)[M]. 北京:中国建筑工业出版社,1984:81-86 Liu Yipu, Shi Xuehuang, Liu Rongxuan. Engineer mechanics exercises guidance[M]. Beijing: Architecture Press of China,1984:81-86 (in Chinese) [10] 杨洋. 机器人控制理论基础[M]. 西安:陕西科学技术出版社,2001:65-70 Yang Yang. Robot control theory basic[M]. Xi-an: Shanxi Science and Technology Press,2001:65-70 (in Chinese) [11] 张培强. MATLAB语言[M]. 北京:中国科学技术大学出版社,1995:20-25 Zhang Peiqiang. MATLAB language[M]. Beijing: The Press of Chinese Science and Technology College,1995:20-25 (in Chinese)
  • Relative Articles

    [1]LI Huan, CUI Pengcheng, JIA Hongyin, GONG Xiaoquan, WU Xiaojun. Numerical Simulation of TSTO Interstage Separation Considering Constraint Force[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0839
    [2]CUI Y P,LI Z H,ZHENG G L. Computing convex hull of a generic polygon with simulation of progressive support for an elastic line[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(1):216-223 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0246.
    [3]YANG Gong-peng, ZHOU Zheng-gan, MA Teng-fei, WANG Jun, LI Yang, ZHOU Wen-bin. Research on finite element simulation modeling for ultrasonic testing of coarse-grained materials[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0676
    [4]LI W T,HE Y Q,ZHANG Y Y,et al. Complex burn-back analysis and internal ballistic performance prediction of non-uniform grain[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(8):2524-2537 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0669.
    [5]ZHAO Xiaodong, CHEN Kai, HUANG Yujie, WANG Pengfei, WANG Ziyuan. Human 3D posture detection and modeling based on variational autoencoder in multi-vision[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0070
    [6]CHEN Shi, XU He-ming, SUN Kai, XU Yi-han, ZHANG Yi-shang. Prediction of creep strain of turbine blades based on finite element nodes[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0639
    [7]LI C Q,ZHAN Y Q,WANG Z M,et al. Numerical simulation of iliac vein compression syndrome in hemodynamics[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(8):2646-2654 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0693.
    [8]LEI J M,WU Z X,XIE W Y. Numerical simulation investigation on water surface skipping motion characteristics of sea-skimming projectile[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(10):2975-2983 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0813.
    [9]CHEN B,LUO L,JIANG A L,et al. Numerical simulation of separation characteristics for internally buried weapon at high Mach number[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(7):2113-2122 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0627.
    [10]ZHANG Pei-hong, JIA Hong-yin, ZHAO Jiao, WU Xiao-jun, ZHOU Gui-yu, ZHANG Yao-bing. Numerical simulation research on opposing jet interaction characteristics of rocket inverse flight[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0710
    [11]XIE N,TANG Y M,ZHANG Y,et al. Numerical study of blood pump weaning effects on hemocompatibility of centrifugal blood pump[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(7):1680-1688 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0494.
    [12]ZHANG P H,TANG Y,TANG J,et al. Simulation of cavity flow at high Mach number based on adaptive unstructured hybrid mesh[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1311-1318 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0424.
    [13]HAN Y F,HU X S,GAO Y,et al. Comparison of turbulence models for unsteady flow simulation in a long and narrow cabin[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(4):957-964 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0335.
    [14]PENG L,LI L,ZHAO W. Numerical study on coupled heat transfer of rotating disc in centrifugal atomization[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(12):3456-3466 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0152.
    [15]YANG Chao, JIANG Yu, WU Zhigang. Numerical simulation of skipping motion of three-dimensional structure based on boundary element method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(9): 1678-1691. doi: 10.13700/j.bh.1001-5965.2022.0141
    [16]GUO Qi, SHEN Xiaobin, LIN Guiping, ZHANG Shijuan. Numerical simulation of icing on aircraft rotating surfaces[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(11): 2259-2269. doi: 10.13700/j.bh.1001-5965.2021.0081
    [17]GONG Xiaoquan, WU Xiaojun, TANG Jing, LI Ming, ZHANG Jian. Application of r-grid adaptive for shock capturing in discontinuous Galerkin finite element method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1889-1898. doi: 10.13700/j.bh.1001-5965.2021.0046
    [18]HONG Zheng, YE Zhengyin. Numerical investigation on evolution of T-S wave on a two-dimensional compliant wall with finite length[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1190-1199. doi: 10.13700/j.bh.1001-5965.2021.0030
    [19]WENG Huiyan, CAI Guobiao, ZHENG Hongru, LIU Lihui, ZHANG Baiyi, HE Bijiao. Numerical simulation of effect of background pressure on electric propulsion plume field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(10): 1854-1862. doi: 10.13700/j.bh.1001-5965.2021.0039
    [20]WANG Weiqi, XING Yuming, ZHENG Wenyuan, HAO Zhaolong. Phase change heat transfer characteristics and fractal optimization of radial plate fin tube[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(12): 2520-2528. doi: 10.13700/j.bh.1001-5965.2021.0140
  • Created with Highcharts 5.0.7Amount of accessChart context menuAbstract Views, HTML Views, PDF Downloads StatisticsAbstract ViewsHTML ViewsPDF Downloads2024-062024-072024-082024-092024-102024-112024-122025-012025-022025-032025-042025-050123456
    Created with Highcharts 5.0.7Chart context menuAccess Class DistributionFULLTEXT: 28.6 %FULLTEXT: 28.6 %META: 71.4 %META: 71.4 %FULLTEXTMETA
    Created with Highcharts 5.0.7Chart context menuAccess Area Distribution张家口: 21.4 %张家口: 21.4 %深圳: 21.4 %深圳: 21.4 %石家庄: 21.4 %石家庄: 21.4 %芒廷维尤: 14.3 %芒廷维尤: 14.3 %芝加哥: 21.4 %芝加哥: 21.4 %张家口深圳石家庄芒廷维尤芝加哥

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3143) PDF downloads(1335) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return