可越障爬壁机器人研究与设计  

The study and design of obstacle-surmounting wall climbing robots

作　　者：苏崇涛 沙晗 黄利春 赵春霞[1] SU Chongtao;SHA Han;HUANG Lichun;ZHAO Chunxia(School of Computer Science and Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;North Information Control Research Institute Group Co.,Ltd.,Nanjing 211153,Chiina)

机构地区：[1]南京理工大学计算机科学与工程学院,江苏南京210094 [2]北方信息控制研究院集团有限公司,江苏南京211153

出　　处：《应用科技》2021年第2期42-49,共8页Applied Science and Technology

基　　金：国家自然科学基金面上项目(61773210).

摘　　要：为了解决爬壁机器人越障性问题,本文根据爬壁机器人的吸附类型介绍了国内外足腿式、蠕动式以及飞吸式机器人越障能力的研究现状,以及本团队研制的3款越障式爬壁机器人的性能特点,对比了各类机器人越障性能的优劣性。在此基础上探讨了爬壁机器人设计时的重点问题,对未来设计越障爬壁机器人起到了一定的引导作用。In order to solve the obstacle-surmounting problems of climbing robots,this paper introduces the current research status of the obstacle-surmounting ability of legged,crawling and flying climbing robots,as well as the performances of three types of obstacle-surmounting wall-climbing robots created by our research group.The paper also compares the obstacle surmounting performances of aforesaid types of robots.On this basis,key points that should be considered in the design of wall-climbing robots are discussed,which is of great significance to guiding the design of obstacle-surmounting wall-climbing robots in the future.

关 键 词：爬壁机器人 越障 爬壁 吸附 负压吸附 足腿式 蠕动式 飞吸式 越障式机器人 越障式爬壁机器人 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]