一种斜推式爬墙机器人的分析与设计

为解决爬墙机器人载重小、效率低等问题，提出了一种利用涵道风扇的斜推力使机器人吸附在墙面的爬墙原理，并制作了一款样机验证原理的可行性。这种爬墙机器人的风扇推力与墙面之间有一个夹角，将推力分解成沿墙面竖直向上的分力和垂直于墙面的附着力。机器人依靠风扇向上的分力和因附着力产生的摩擦力的合力而停附在墙面。通过实验，机器人停附在墙面上所需推力小于自身重力，推力的利用率高。

Analysis and Design of aW all-cil mbing RobotR elying on Oblique Thrust

In order to improve the loading capacity and effciency of the wall-climbing robot, the theory about how to have the robot adsorbed on the wall by making use of the oblique thrust of the culvert fan is put forward. And the model machine is used to test and verify the feasibility of the theory. There is an included angle between the fan＇s thrust and wall space. So the thrust can be divided into two parts ： the upward component force along the wall and the adhesive force perpendicular to the wall, and then the former one and the friction force caused by the latter one will be composed to make the robot on the wall. The conclu- sion can be reached by experiment research that when the thrust keeping the robot on the wall is less than its own gravity, the effect of the thrust is better.