爬壁机器人脚爪的设计与分析

Design and analysis of the claws of wall-climbing robot

针对自然界广泛存在的粗糙壁面应用环境以及现有爬壁机器人抓附结构存在的不足,提出密集阵爪刺式脚爪。对影响密集阵爪刺式脚爪在壁面上抓附性能的各关键参数进行分析与建模,计算出各设计参数的最优值。通过对具有不同设计参数值的脚爪在壁面上所能承受的最大载荷进行对比实验,验证了对于脚爪关键设计参数所建数学模型的正确性及脚爪各设计参数最佳值的准确性。根据实际情况确定各设计参数值,并完成脚爪的制作,进而测定其在抓附壁面的过程中所能承受的最大载荷。结果表明:此脚爪所能承受的最大载荷超过400 g。

In view of the widely existing rough wall application environment in nature and the deficiencies of the existing wall-climbing robot's grasping structure,this paper proposes the paw based on densely arrayed micro-spines.The key parameters which affect the performance of the paw based on densely arrayed micro-spines on the wall are analyzed and modeled,and the optimal values of the design parameters are estimated.A comparative experiment is carried out on the maximum load that the paw with different design parameter values can bear on the wall,which verifies the accuracy of the analysis of the key parameters of the paw and the mathematical model established.Subsequently,the design parameter values are determined according to the actual situation,and the production of the claw is completed,and the maximum load that it can bear in the process of grasping the wall is determined.The results show that the maximum load that the claw can bear exceeds 400 g.