反推力吸附的爬壁机器人设计及实验研究

Design and Experimental Research of Wall-Climbing Robot with Reverse Thrust Adsorption

为实现机器人稳定、快速和高效地在不同接触壁面移动,提出了一种采用双旋翼螺旋桨反推力作为前驱动力和壁面吸附力的机器人设计方法.对爬壁机器人结构和动力系统进行设计,通过对机器人在不同运动状态下的静力学进行分析,得出机器人在旋翼倾角为60°时动力性能最优,并通过机器人在水平状态下牵引力实验得到了验证.通过在实际操作过程的实验测试,机器人旋翼倾角单度变化运动效果优于旋翼倾角成倍变化.通过对机器人在水平和垂直壁面吸附力进行实验测量,得出由于结构复杂性大大降低了螺旋桨气动效率.最后,通过实验验证了机器人在小斜坡和垂直壁面稳定吸附能力.

A robot design approach was proposed that uses the reverse thrust of the dual-rotor propeller as the forward driving force and the wall adsorption force to achieve steady,rapid,and efficient robot movement on various contacting walls.The structure and the power system of the wall-climbing robot were designed.The dynamic performance of the robot was ideal when the inclination angle of the rotor was 60°,as determined by the traction force experiment of the robot in the horizontal state,according to the statics of the robot in different motion modes.The motion impact of a single-degree change in the rotor inclination angle of the robot was better than that of a doubling change in the rotor inclination angle,according to an experimental test in the actual operation process.The aerodynamic effectiveness of the propeller was considerably lowered due to the intricacy of the construction,according to experimental measurements of the robot’s adsorption force on horizontal and vertical walls.Finally,the stable adsorption ability of the robot on small slopes and vertical walls was verified by experiments.