多吸盘爬壁机构的承载能力和倾覆趋势研究

On the Maximal Weight Moment and Overturn Tendency of Multi-sucker Wall-climbing Mechanism

本文对昆虫式足行程分布的６足爬壁机构行走时不同吸附支撑状态下的静定或超静定力学问题进行分析，求得与支撑形状有关的承载能力解析表达式和当载荷增加时支撑吸盘的脱开趋势．从中发现有时吸盘数量增加反致抗倾覆承载能力下降的特殊现象，通过建立分布式弹簧质量系统模型对这一并不直观的现象进行解释，研究结果有助于提高爬壁步态规划和抗倾覆安全性监控的效率．

After studying the indeterminate statics of an insect-like six-legged wall-climbing mechanism in various support patterns, we obtain the analytical expressions of maximal weight moment with respect to different support patterns and, the overturn tendency while payload was increased. As a side product. we find an unusual phenomenon governing the relationship between anti-overturn capacity and the number of functioning suckers, which can be explained theoretically by distributed mass-spring statics model. The important outcome of this research makes the off-or on-time gait programming and safety monitoring more efficient.