Mechanical Structure Design and Motion Analysis for Wall-climbing Robot of Aircraft Skin Detection
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摘要: 针对传统的飞机蒙皮检测技术效率低、工作周期长、识别率差等问题,提出了一种能够自主完成飞机蒙皮检测工作的螺旋桨推力吸附式爬壁机器人。首先,以爬壁机器人应用背景为基础,进行了机器人的机械结构设计,以履带传动作为其移动机构,设计了相应的履带变形机构,提升其自适应越障性能,并利用螺旋桨提供其反向运行吸附力;其次,分析了其爬坡运动稳定性;最后,建立了机器人的运动学模型,分析了其越障能力,论证了其应用于飞机蒙皮检测的可行性。Abstract: To solve the disadvantages for the traditional detection method of aircraft skin, such as low efficiency, long working period and poor recognition, a propeller thrust adsorption climbing robot which can independently complete aircraft skin detection has been developed. Firstly, according to the application background of wall-climbing robot, the mechanical structure design of the robot was carried out. With the crawler drive as its moving mechanism, the corresponding crawler deformation mechanism was designed to improve its adaptive barrier crossing performance, and the propeller was used as the thrust to provide its reverse operation adsorption capacity. Secondly, the stability of climbing movement is analyzed. Finally, the kinematics model for the robot is established, and its obstacle crossing ability is analyzed. Then the feasibility of its application in aircraft skin detection is demonstrated.
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Key words:
- aircraft skin /
- wall-climbing robot /
- propeller thrust adsorption /
- kinematics model
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表 1 机器人初步设计参数
名称 参数 车体尺寸$m \times n \times k$ ${\rm{350}}\;{\rm mm} \times {\rm{270}}\;{\rm mm} \times {\rm{170}}\;{\rm mm}$ 驱动轮直径${d_1}$ ${\rm{35}}\;{\rm mm}$ 从动轮直径${d_2}$ ${\rm{35}}\;{\rm mm}$ 支撑轮直径${d_3}$ ${\rm{80}}\;{\rm mm}$ 履带轮宽度c(包括挡边) ${\rm{13}}\;{\rm mm}$ 履带宽度$b$ ${\rm{50}}\;{\rm mm}$ 支撑轮间距离${D_1}$ ${\rm{160}}\;{\rm mm}$ 连杆${l_{\rm{2}}}$ ${\rm{104}}\;{\rm mm}$ 连接杆${l_5}$ ${\rm{65}}\;{\rm mm}$ 上调节杆${l_1}$ ${\rm{185}}\;{\rm mm}$ 丝杠长度$l_s$ ${\rm{130}}\;{\rm mm}$ 丝杠与支撑轮中心距离${h_1}$ ${\rm{125}}\;{\rm mm}$ 驱动轮与从动轮间距离${D_2}$ $3{\rm{10}}\;{\rm mm}$ 电机输出减速器传动比ig $1:2$ 表 2 机器人性能指标
机器人重量 6 kg左右 最大纵向爬坡角度 50°左右 理论跨越障碍物高度 ${\rm{90}\; }{\rm{mm}}$ 运行速度 ${ {0} }{\rm{.1} }\;{\rm{m/s}}$ -
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