一种仿生爪刺式履带爬壁机器人设计与分析  

Design and Analysis of a Bio-Inspired Tracked Wall-Climbing Robot with Spines

作　　者：刘彦伟 刘三娃 梅涛 吴晅[3] 李言[1] LIU Yanwei;LIU Sanwa;MEI Tao;WU Xuan;LI Yan(School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology, Xi'an 710048,China;Suzhou Rongcui Special Robot Co, Ltd., Suzhou 215004,China;Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Changzhou 213164, China)

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048 [2]苏州融萃特种机器人有限公司,江苏苏州215004 [3]中国科学院合肥物质科学研究院先进制造技术研究所,江苏常州213164

出　　处：《机器人》2019年第4期526-533,共8页Robot

基　　金：国家自然科学基金(51805431);国家重点基础研究发展计划(2011CB302106);陕西省自然科学基础研究计划(2018JQ5062)

摘　　要：为提高爬壁机器人的粘附性能和脱附效率,实现高效爬行运动,提出了一种仿生爪刺式履带爬壁机器人.该机器人结合了腿式机器人容易脱附和履带式机器人粘附面积大的优点,在不增加额外驱动的前提下,实现了机器人爪刺足的可控粘附与脱附.首先,在东方绢金龟足部柔顺附节链结构的启发下,设计了仿生柔顺爪刺结构来适应粗糙壁面形貌、提高足部粘附性能.然后,针对履带旋转运动引起爪刺脱附困难的问题,设计了一种双轨道机构来模仿昆虫足部粘附、脱附动作.最后,在多种粗糙壁面上开展了爬行实验,结果表明爪刺足粘附稳定且易于脱附.To improve the adhesive capacity and the detaching efficiency and achieve efficient locomotion of the wall climbing robot, a bio-inspired tracked wall-climbing robot with spines is proposed. The robot combines the easy detachment feature of legged robots and the large adhesive area feature of tracked robots, and its spine feet achieve controllable attachment and detachment without additional actuators. Firstly, inspired by the compliant tarsus of the Serica orientalis Motschulsky, a bio-inspired compliant spine mechanism is designed to adapt to the rough wall morphology and improve the adhesive capacity. Then, considering the difficulty for spines to detach from wall surfaces caused by the rotary movement of the track, a mechanism with double tracks is designed to mimic the foot attaching and detaching movements of insects. Finally, climbing experiments on several rough wall surfaces are conducted, and the results show that the attachment of spine feet is stable and the detachment is easy.

关 键 词：爬壁机器人 仿生爪刺 履带式机器人 粗糙壁面 仿生机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]