一种仿尺蠖爬壁机器人设计与分析

针对在粗糙壁面和天花板上爬行的应用需求,提出一种仿尺蠖爬壁机器人。机器人采取与尺蠖类似的运动方式,两足交替抓附在壁面上,通过躯体屈曲-伸展动作完成前进、后退、壁面过渡运动。分析了尺蠖腹足对抓的原理,设计了仿生爪刺对抓足;对机器人爬壁过程进行了静力学和运动学分析;研制了机器人样机,并开展了爬壁性能实验测试。结果表明,仿尺蠖爬壁机器人可以实现在粗糙壁面、天花板上爬行,具有壁面间过渡的能力。

Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot

Aiming at the application requirements of climbing on rough walls and ceilings, an inchworminspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to complete the forward, backward and wall transition movements. The grasping principle of the inchworm feet is analyzed and the bionic spiny gripper is designed. The statics and kinematics analysis of the robot during climbing process are carried out. The robot prototype is developed and several climbing experiments and tests are carried out. The results show that the inchworm-inspired wall-climbing robot can climb on rough walls and ceilings with the ability of transition between walls.