爬墙机器人设计

On the Design of a Climbing Robot

本文设计的机器人依附与气动真空吸盘提供吸附力,由气压缸和步进电机驱动关节运动。该机器人携带传感器部分采用模块化设计,即可根据不同的传感器执行不同的任务。该机器人可以越过墙面上类似开关的障碍物,可以在竖直墙面爬行;可以在天花板上爬行,能从墙面过渡到天花板。

The robot designed in this paper is provided with ad-sorption force relying on pneumatic vacuum chuck, and its joint movement is driven by pneumatic cylinder and stepper motor. Modular design is adopted for the sensors of the robot, namely, it can carry out different tasks in accordance with different sensors. The robot can cross obstacles similar to switches on the wall, climb on a vertical wall, climb on the ceiling, and go from the wall to the ceiling.