A WALL-CLIMBING ROBOT USING PROPULSIVE FORCE OF PROPELLER - MECHANISM AND CONTROL-SYSTEM IN A STRONG WIND

被引：14

作者：

NISHI, A

MIYAGI, H

机构：

[1] Faculty of Engineering, Miyazaki University, Miyazaki, 1-1 Gakuen-Kibanadai Nishi

来源：

JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING | 1994年 / 37卷 / 01期

关键词：

ROBOT; MECHATRONICS AND ROBOTICS; MOVING ROBOT; MOTION CONTROL; CONTROL DEVICE; WALL-CLIMBING ROBOT; VERTICAL WALL; THRUST FORCE; PROPELLER;

D O I：

10.1299/jsmec1993.37.172

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In the previous report, the mechanism of a wall-inspection robot which is capable. of moving in a weak wind on a vertical wall was investigated. For emergency use of a wall-climbing robot, such as in rescue, and fire-fighting, the robot must be able to move in strong and turbulent winds at any time. Therefore, the control system for large wind load is important. A combined control system consisting of a thrust force controller, a frictional force augmentor and a damper is used, and its performance is estimated by a computer simulation technique. The safety of the robot is ascertained for an actual turbulent and strong wind gust.

引用

页码：172 / 178

页数：7

共 6 条

[1]

Nishi A., 1991, Proceedings IROS '91. IEEE/RSJ International Workshop on Intelligent Robots and Systems '91. Intelligence for Mechanical Systems (Cat. No.91TH0375-6), P1561, DOI 10.1109/IROS.1991.174735

[2] A WALL-CLIMBING ROBOT USING PROPULSIVE FORCE OF A PROPELLER - MECHANISM AND CONTROL IN A MILD WIND [J].

NISHI, A ;

MIYAGI, H .

JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING, 1993, 36 (03) :361-367

[3]

NISHI A, 1992, T JPN SOC MECH ENG, V58, P163

[4]

NISHI A, 1991, 5 INT C ADV ROB, P320

[5]

NISHI A, 1991, 8TH P INT S AUT ROB, P267

[6]

NISHI A, 1992, P INT S THEORY MACHI, P260

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