一种新型磁吸附爬壁机器人的研制

Development of New Magnetic Adhesion Wall Climbing Robot

设计了一种壁面吸附爬行机器人,实现了机器人壁面转向、蠕动、交叉面跨越等功能,而且比其他爬壁机器人尺寸较小、质量更轻。该机器人应用了一种新机构,实现了单电机分时驱动双关节独立运动。分析了该机器人的运动学特性,包括运动学的正逆解以及壁面过渡的策略,简述了吸附足的设计,并对吸附足进行力学建模及分析,对壁面过渡策略进行了运动学验证仿真。样机实验验证表明该机器人达到了预期设计效果。

This paper designs a wall climbing robot with the functions of wall turning,creeping,crossing and so on and its size is smaller and its weight is lighter than others. A new mechanism is used in this robot to implement a single motor time-sharing dualjoint independent movement. It also analyzes its kinematic characteristics,including the forward and inverse kinematics and the strategy of the wall transition,briefly describes the design of the adsorbent foot,establishes and analyzes the mechanical modeling and does the kinematical simulation of the wall transition strategy. The prototype design is validated by the prototype experiment.