CAJ | 학술논문

针对轮腿式壁面清洗机器人作业时对吸附力的要求以及吸附系统部分组件相对机器人本体旋转的问题，采用模块化设计方法，研究了真空耦合传递系统，分析了其构成与负压同步分配器截面形状。为满足相对机器人静止的真空发生器和转动吸盘的连接要求，根据分配头不同截面形状提出负压同步分配器3种方案，并分析了分别采用不同方案的机器人特性。研究结果为机器人在平直壁面、球形或柱形等曲面上的可靠吸附与运动提供基础和保证。
침대륜퇴식벽면청세궤기인작업시대흡부력적요구이급흡부계통부분조건상대궤기인본체선전적문제，채용모괴화설계방법，연구료진공우합전체계통，분석료기구성여부압동보분배기절면형상。위만족상대궤기인정지적진공발생기화전동흡반적련접요구，근거분배두불동절면형상제출부압동보분배기3충방안，병분석료분별채용불동방안적궤기인특성。연구결과위궤기인재평직벽면、구형혹주형등곡면상적가고흡부여운동제공기출화보증。
To meet the requirements of adsorbing force and relative rotation of the some parts to the robot body in the process of wheel-legged wall cleaning robot operating ,a vacuum-coupled delivery system was investigated adopting modular design method .Its composition and the sectional shapes of negative pressure synchronous distributor were analyzed .To meet the connection request for relatively stationary vacuum generator and rotating suckers ,three design scenarios of negative pressure synchronous distributor with different cross-sectional shapes were proposed .And then the characteristics of robot separately adopting different programs were analyzed .The results provide the foundation for reliable adsorption and motion of the robot working on a straight wall ,spherical or cylindrical surfaces .