爬树机器人的研究现状综述

Review of Tree-Climbing Robot

爬树机器人具有攀爬和操作功能,以代替人们在高空复杂环境中从事危险工作为目标,完成诸如树木整枝、果实采摘、采集标本、军事探测及杆状建筑物的清洗保养、质量检测等任务。在详述了国内外爬树机器人的研究和应用现状后,分别探讨了爬树机器人夹持机构设计、自保防坠落机构设计、爬树时位姿调整机构设计和运动规划避障以及控制结构设计等关键技术,最后浅谈了爬树机器人的发展趋势。

Tree-climbing robot with climbing and operating functions,is proposed for dangerous high-altitude operation,such as tree pruning,fruit picking and collecting specimens,military monitoring and'rod-shaped,building cleaning and maintenance,quality inspection and other works,the current international research on the climbing robot is still in its infancy.This paper reviews the development of the research and application of tree-climbing robot at home and abroad,and discusses the key technology of climbing robot,clamping mechanism design,anti-falling function, postural adjustment in high-altitude operation,motion planning,surmount obstacle,and control architecture design, finally,the development trend of the tree-climbing robot is presented.