无源真空吸盘爬壁机器人动力学分析

Dynamics Analysis of the Passive Absorption Wall Climbing Robot

基于无源真空吸盘的爬壁机器人是一种新型壁面爬行装置。阐述了无源真空吸盘的概念,建立了无源真空吸盘履带爬壁机器人力学模型,在此基础上研制成功一台爬壁机器人。实验表明该机器人能够在玻璃壁面上稳定爬行,验证了理论分析的正确性。

This paper explains the concept of passive vacuum cup.Through experiment we have got the mechanical property curve of the vacuum cup.This article proved the feasibility of this idea and got the theory of robot＇s persistent climbing .According to the theory, and a sample robot was made.