现代制造工程Issue(11)：20-24,5.
轮腿式壁面清洗机器人控制系统研究
Control system investigation of a wheel-legged wall cleaning robot
摘要
Abstract
Aiming at the cleaning demand of glass curtain wall of high-rise building , the control system of a wheel-legged wall cleaning robot was investigated adopting modularized design method .The wall climbing robot was with multi-suckered vacuum ad-sorption mechanism and two sets of moving mechanisms of wheel-leg and wheel .A cleaning system automatically adaptive to height variation and various sensors were applied to this wall climbing robot ,which made the robot with higher operation efficiency and higher intelligence .The wheel-legged wall cleaning robot was with simple mechanism ,flexible wall adaptability and strong ob-stacle crossing ability.The adsorption system control,motion control,overstepping obstacle control ,posture control and cleaning operating control in remote control and auto-control mode were investigated in detail .关键词
壁面自动清洗机器人/姿态控制/轮腿式运动方式/轮式运动方式/爬壁机器人Key words
wall auto-cleaning robot/posture control/wheel-legged moving mode/wheeled moving mode/wall climbing robot分类
信息技术与安全科学引用本文复制引用
王妹婷,齐永锋,蒋伟,程宏辉,李生权,包加桐,陆柳延..轮腿式壁面清洗机器人控制系统研究[J].现代制造工程,2013,(11):20-24,5.基金项目
国家自然科学基金项目（51106133）；江苏省高校自然科学基金项目（12KJB510032，10KJB470010）；江苏省水利动力工程重点实验室开放基金项目 （）
