北航26届冯如杯新型轮式爬杆机器人选读.docx

北京航空天大学第二十六届“冯如杯 ”学生学术科技作品竞赛参赛作品 PAGE \* MERGEFORMAT10 项目名称：新型轮式爬杆机器人 2016年3月29日  摘要： 随着科技的进步，机器人已经日趋广泛应用于工业生产和日常生活中。随着经济的增长，城市化进程的加快，城市中有着大量的如钢索、电线杆等高空杆绳状建筑，如何对这些建筑进行高效安全的维修和清洁已然成为当下的一个重要课题；同时在工业生产中，单纯只能在平面内运动传输也已经无法满足要求，我们需要有着能够在竖直空间方向上移动的机器人加入到工业生产中来，而建立竖直方向的杆轨道，使机器人在杆轨道上运行，就能够简单直接地解决这个问题。 基于此，本文主要提出一种既能陆地行走又能以长杆作为轨道行进的机器人。这种机器人是具有稳定的地面运行能力和可靠爬杆能力的运动装置。该装置可以迅速从地面运行状态转换为爬杆状态。其中最具特色的设计是该装置在爬杆过程中的重心并不与杆的几何中心线重合；与此同时行进方式也是与传统的爬杆装置的蠕动式不同，此装置采用同地面运行相似的轮式行进，这样就有效提高了爬杆的速度，使得该装置在运行过程中有着绝对的时间效率优势。 关键词：爬杆 机器人 轮式行进 As the development of technology is speeding up, robots have been broadly applied in not only industrial manufacturing but also daily life. There are a number of cable wires and telegraph poles in the cities due to the growth of economic and the acceleration of urbanization. How to carry out overhead work effectively and safely is becoming a current issue. As a result, robots which are capable of moving towards perpendicular direction are severely in need for industrial manufacturing. Based on the above background, this article is going to provide a solution conceiving a robot with the ability to move both on the plat ground and on the pole vertically. The robot can quickly converts from horizontal motion to vertical motion climbing the pole. What make the robot unique are summed up to two points below: a. The center of gravity of the robot does not overlap with the geometric center line of the pole during the climbing; b. This robot is moving on wheels just like on the ground, climbing faster than those traditional crawling robots. Keywords: climbing poles, robot, traveling wheel.  目录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc447057338 第一章 绪论  PAGEREF _Toc447057338 \h 5  HYPERLINK \l _Toc447057339 1.1 研究背景  PAGEREF _Toc447057339 \h 5  HYPERLINK \l _Toc447057340 1.2 研究现状  PAGEREF _Toc447057340 \h 5  HYPERLINK \l _Toc447057341 1.3小结  PAGEREF _Toc447057341 \h 6  HYPERLINK \l _Toc447057342 第二章 轮式爬杆机器人的关键问题和解决方案  PAGEREF _Toc4470