可越障爬壁机器人研究与设计

The study and design of obstacle-surmounting wall climbing robots

为了解决爬壁机器人越障性问题,本文根据爬壁机器人的吸附类型介绍了国内外足腿式、蠕动式以及飞吸式机器人越障能力的研究现状,以及本团队研制的3款越障式爬壁机器人的性能特点,对比了各类机器人越障性能的优劣性。在此基础上探讨了爬壁机器人设计时的重点问题,对未来设计越障爬壁机器人起到了一定的引导作用。

In order to solve the obstacle-surmounting problems of climbing robots,this paper introduces the current research status of the obstacle-surmounting ability of legged,crawling and flying climbing robots,as well as the performances of three types of obstacle-surmounting wall-climbing robots created by our research group.The paper also compares the obstacle surmounting performances of aforesaid types of robots.On this basis,key points that should be considered in the design of wall-climbing robots are discussed,which is of great significance to guiding the design of obstacle-surmounting wall-climbing robots in the future.