一种新型足式爬壁机器人设计

Design of A New Foot Wall Climbing Robot

根据仿生原理设计出一种新型爬壁机器人结构,通过传动机构的控制和规划实现机器人两腿依次交替吸附在壁面上连续运动。根据机器人在壁面上可能出现的危险情况,对吸附装置进行受力分析,得到吸附装置克服危险情况所需吸附力。爬壁机器人实现了预期的越障目标,并解决了机器人在壁面出现的危险情况。通过实验验证,机器人机身与作业面始终保持平行,具有在垂直壁面攀爬的能力,提高机身的稳定性,达到了预期实验结果。

According to the principle of bionics, a new type of wall-climbing robot structure was designed. Through the control and planning of the transmission mechanism, the two legs of the robot are alternately adsorbed on the wall and move continuously. According to the dangerous situation that the robot may appear on the wall, the force analysis of the adsorption device is carried out, and the value of the adsorption force required by the adsorption device to overcome the dangerous situation is obtained. The wall-climbing robot achieves the expected obstacle crossing goal and solves the dangerous situation of the robot on the wall. Through experimental verification, the robot body is always parallel to the working surface, has the ability to climb on the vertical wall, improves the stability of the body, and achieves the expected experimental results.