轮足复合式爬壁机器人研究综述

Review of Wheel-Foot Compound Wall-climbing Robot

当前轮足复合式机器人机构主要包含轮足结合、分离复合以及变形轮足,分别能够实现不同障碍通道的移动作业、复杂未知环境的探索操作以及突发应急救援等应用。然而,针对船舶、压力储罐等金属立面环境,轮足复合式爬壁机器人必须兼具壁面适应、越障和壁面过渡的全位置自主作业能力,应用于壁面焊接、清洗、检测等作业任务。对比分析当前的国内外研究,轮足复合式爬壁机器人针对在垂直和倾斜壁面的工程应用有良好的适用性,它具备适应复杂曲面工作面的能力,并能够应对非结构化工作场景。轮足复合式爬壁结构在应对曲率变化、非结构化壁面等工作将会有良好的应用前景。

The current wheel-foot composite robot mechanism mainly contains wheel-foot combination,separation composite and deformed wheel-foot,which can realize the mobile operation of different obstacle channels,exploration operation of complex unknown environment and sudden emergency rescue and other applications respectively.However,for ships,pressure storage tanks and other metal façade environments,wheel-foot composite wall climbing robots must have all-position autonomous operation capabilities of wall adaptation,barrier crossing and wall transition,and be applied to wall welding,cleaning,inspection and other operational tasks.In comparison with current domestic and international research,wheel-footed composite wall climbing robots have good applicability for engineering applications on vertical and inclined walls,with the ability to adapt to complex curved work surfaces and to cope with unstructured work scenarios.The wheel-footed composite wall climbing structure will have good application prospects in dealing with curvature changes and unstructured walls.