基于正四面体结构的空间四足爬壁机器人  

Space Quadruped Wall-Climbing Robot Based on Regular Tetrahedron Structure

作　　者：涂郅伟 李博达 刘阳杰 汪志 刘淼 王玉琳[1] TU Zhi-wei;LI Bo-da;LIU Yang-jie;WANG Zhi;LIU Miao;WANG Yu-lin(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009

出　　处：《机械工程与自动化》2022年第5期168-170,共3页Mechanical Engineering & Automation

基　　金：2021年国家级大学生创新创业训练计划项目(202110359007)。

摘　　要：提出了一种基于正四面体结构的四足爬壁机器人。该机器人采用真空吸附方式,其四只爬行足相互独立,围绕机体中心呈空间正四面体中心对称分布。将机器人的爬行足结构分为大腿、小腿、伸长腿以及足部,四部分协调配合工作;通过四只爬行足交替吸附表面与悬浮来完成机器人的运动,可以使该机器人实现平面爬行、越障、立体空间爬行以及壁面作业等功能。In this paper, a quadruped wall-climbing robot based on regular tetrahedron structure is proposed. The robot adopts the vacuum adsorption method, and its four crawling feet are independent of each other, which are symmetrically distributed around the center of the body in a spatial regular tetrahedron. In this paper, the crawling foot structure of the robot is divided into thighs, calves, extended legs and feet, and the four parts work in coordination. Through four crawling feet alternately adsorb surface and suspension, to complete the movement of the robot, the robot can complete planar crawling, obstacle climbing, three-dimensional space crawling and wall operations and other functions.

关 键 词：正四面体结构 空间四足爬壁机器人 空间爬行 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]