爬壁机器人研究现状及发展趋势

Research Status and Development Trend of Wall Climbing Robot

爬壁机器人是指能够依附在物体的表面进行多自由度移动并完成作业的机电系统,特别适用于执行特殊任务,因而具有良好的应用前景和广泛的市场需求。根据黏附机理的不同,爬壁机器人可分为负压吸附、静电黏附、仿壁虎干黏附、仿生湿黏附等类型。从黏附机理、应用范围以及黏附特点三个方面概述了爬壁机器人领域的国内外研究现状,为统一分析比较不同种类爬壁机器人的负载性能,提出基于比黏附能密度的机器人整体黏附性能分析方法,并为解决其大负载和小体积之间的矛盾提出新的材料和结构设计思路,分析微型爬壁机器人在航空发动机故障检测领域的应用前景,总结出其在材料智能化、驱动新型化、体积小型化和黏附机理协同化等方向的发展趋势。

Wall climbing robot is an electromechanical system that can move on the surface of objects and complete operations with multiple degrees of freedom.It is especially suitable for performing special tasks,so it has a good application prospect and broad market demand.According to different adhesion mechanisms,wall climbing robots can be divided into negative pressure adsorption,electrostatic adhesion,gecko-like dry adhesion,bionic wet adhesion and so on.The research status of wall climbing robots at home and abroad is summarized from three aspects:adhesion mechanism,application scope and adhesion characteristics.In order to analyze and compare the load performance of different types of wall climbing robots,an analysis method of robot overall adhesion performance based on specific adhesion energy density is proposed,and a new material and structure design idea is proposed to solve the contradiction between large load and small volume.The application prospect of micro wall climbing robot in aero-engine fault detection is analyzed,and its development trends in the fields of intelligent materials,new driving,miniaturization and collaboration of adhesion mechanism are summarized.