摘要
针对自然界广泛存在的粗糙壁面应用环境,提出了一种模仿昆虫攀爬动作的仿生爪刺式双足爬壁机器人。该机器人包括双腿和尾部车轮,由腿部切比雪夫连杆机构驱动双足在壁面上交替抓附爬行,可以实现类似昆虫足部的抓附、脱附动作,能够实现在竖直粗糙砖面上稳定爬行,具有一定的越障能力。建立了机器人腿部连杆机构模型,分析了机器人爬行过程中的足部爪刺的抓附、脱附动作,并在多种壁面上对机器人样机开展了爬行实验。
Aiming at the application environment of rough walls which widely existing in nature world,a bio-inspired biped wall-climbing robot with spines that mimics insects′climbing action is proposed.The robot consists of two legs and rear wheels,and its feet are driven by Chebyshev linkage mechanisms to grasp and climb on wall surfaces alternately.It can achieve attaching and detaching movements of insects′feet,climbs steadily on vertical rough brick surfaces,and can also overcome some obstacles.The linkage mechanism model of the robot′s leg is established,and the attaching and detaching movements of the foot during climbing process are analyzed,and several climbing experiments of a robot prototype are carried out on a variety of wall surfaces.
作者
刘彦伟
黄响
王李梦
梅涛
李言
Liu Yanwei;Huang Xiang;Wang Limeng;Mei Tao;Li Yan(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,ChinaSuzhou Rongcui Special Robot Co.,Ltd.,Jiangsu Suzhou 215004,China)
出处
《机械科学与技术》
CSCD
北大核心
2019年第8期1185-1190,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51805431)
中国博士后科学基金项目(2018M643695)
陕西省自然科学基础研究计划项目(2018JQ5062)资助
关键词
机器人
仿生爪刺
粗糙壁面
机构
robots
bio-inspired spines
rough wall
chebyshev mechanism
movement analysis
experiments
