共轴式双旋翼推力吸附机器人平台设计

薛朝军; 王海波

doi:10.13433/j.cnki.1003-8728.20200306

共轴式双旋翼推力吸附机器人平台设计

doi: 10.13433/j.cnki.1003-8728.20200306

薛朝军^{1, 2,},
王海波^{1, 2, ,}

1.
西南交通大学机械工程学院, 成都 610031
2.
轨道交通运维技术与装备四川省重点实验室, 成都 610031

基金项目:

国家自然科学基金项目 51905451

详细信息

作者简介:
薛朝军(1993-), 硕士研究生, 研究方向为小型机器人平台, 861356816@qq.com

通讯作者:
王海波, 副教授, haibowang@home.swjtu.edu.cn

中图分类号: TG156
计量
- 文章访问数: 126
- HTML全文浏览量: 19
- PDF下载量: 32
- 被引次数: 0
出版历程
- 收稿日期: 2020-07-03
- 刊出日期: 2022-01-01

Design on Platform of Coaxial Twin-rotor Thrust Adsorption Robot

XUE Chaojun^{1, 2
,},
WANG Haibo^{1, 2
, ,}

1.
School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China
2.
Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province, Chengdu 610031, China

摘要

摘要: 本文把空气动力学结合到机械结构设计之中, 设计了一款能在壁面灵活移动、能在简单的相邻壁面间翻越、具备一定量的负载能力、履带式行走方式、共轴双旋翼提供推力的机器人平台。先对选定翼型进行2维的外流场计算, 求得"最经济状态点", 以确定上、下旋翼的安装角分别为6°和5°。在此基础上, 再求解出旋翼直径、旋翼机构推力与电机功率三者之间的关系。然后以旋翼直径为基础, 对机器人平台的各个部分重量进行关联。最后把旋翼直径、电机功率和整机重量三者串联起来, 建立Simulink模型, 当旋翼直径等于376.4 mm时, 求得最小重量的机器人平台。对旋翼安装角、直径和整机重量的探讨和计算, 为下一步的三维仿真和实物搭建奠定基础。
- 机器人平台 /
- 安装角 /
- 旋翼 /
- 整机重量
Abstract: This paper combines aerodynamics with mechanical structure design, and designs a robot platform that can move flexibly on the wall, can transition between simple adjacent walls, can carry a certain weight, is caterpillar walking mode, and provide thrust with coaxial twin rotor wings. Firstly, the 2-dimensional external flow field of the selected rotor wing is calculated, and the "most economical state point" is obtained to determine the installation angle of the upper and lower rotor wings to be 6° and 5° respectively. Then, the relationship among rotor wing's diameter, the mechanism of rotor wing's thrust and motor power is solved. The weight of each part of the platform is then correlated based on the rotor wing's diameter. Finally, the rotor wing's diameter, motor power and machine weight are connected in series to establish Simulink simulation model. When the rotor wing's diameter is equal to 376.4 mm, the robot platform with the minimum weight is obtained. The discussion and calculation of rotor wing's mounting angle, diameter and weight of the whole machine lay a foundation for the next step of 3D simulation and physical construction for robot platform.
- platform of robot /
- installation angle /
- rotor wing /
- machine weight

HTML全文

图 1 机器人平台

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图 2 计算模型

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图 3 升、阻力特性曲线

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图 4 翼型极线

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图 5 C_L与C_D曲线拟合

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图 6 仿真模型

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图 7 重量与旋翼直径

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表 1 机器人平台性能指标

技术指标	设计参数
技术指标	优化后	优化前
尺寸/mm	426×396×286	550×520×360
重量/g	2 440	2 563
速度/(m·s^-1)	≥7.92	≥7.92
续航时间/min	≥5	≥5
负载能力/g	≥200	≥200

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