| 爬壁机器人发展与关键技术综述 |
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| 引用本文： | 聂佩晗,张雅婷,陈勇.爬壁机器人发展与关键技术综述[J].机床与液压,2022,50(4):155-161. |
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| 作者姓名： | 聂佩晗 张雅婷 陈勇 |
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| 作者单位： | 南京林业大学机械电子工程学院,江苏南京210037 |
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| 基金项目： | 国家自然科学基金项目（32072498）；国家质量监督检验检疫总局项目（2017QK044）；江苏省高等学校大学生创新创业训练计划项目（202010298011Z）；江苏省特种设备安全监督检验研究院项目（KJ(Y)2016019） |
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| 摘 要： | 针对目前国内外对爬壁机器人的研究现状和不足,分别从吸附方式、行走方式、驱动方式和壁面过渡等方面进行归纳总结,论述爬壁机器人面临的主要问题和发展趋势.结果表明:爬壁机器人在吸附方式方面存在吸附性和机动性之间的矛盾,在壁面过渡能力方面仍存在一定的局限性,距离实际应用还有一定距离.对爬壁机器人关键技术的研究方向提出展望.
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| 关 键 词： | 爬壁机器人 吸附方式 壁面过渡能力 |
Review on the Development and Key Technology of the Wall-climbing Robot |
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| NIE Peihan,ZHANG Yating,CHEN Yong.Review on the Development and Key Technology of the Wall-climbing Robot[J].Machine Tool & Hydraulics,2022,50(4):155-161. |
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| Authors: | NIE Peihan ZHANG Yating CHEN Yong |
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| Abstract: | In view of the current research status and shortcomings of wall-climbing robots at home and abroad,the main problems and development trends of wall-climbing robots were summarized from the aspects of adsorption mode,walking mode,driving mode and wall transition.The results show that the wall-climbing robot has a contradiction between adsorption and mobility in terms of adsorption methods,and there are still certain limitations in the wall transition ability, which is still far from practical application.The research direction of the key technology of wall-climbing robot was proposed. |
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| Keywords: | Wall-climbing robot Adsorption mode Wall transition ability |
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