非结构化环境下巡检机器人地面自适应机构研究进展  

Research Progress on Ground Adaptive Mechanism of Inspection Robot in Unstructured Environment

作　　者：陶渊 王吴光 Tao Yuan;Wang Wuguang

机构地区：[1]无锡城市职业技术学院,江苏无锡214153

出　　处：《机械制造》2025年第3期1-3,29,共4页Machinery

基　　金：江苏省2023成人高等教育研究课题(编号:CJY-14);江苏省职业院校学生创新创业培育计划项目(编号:GX-2024-0369)。

摘　　要：随着复杂地形作业需求的日益增长,地面自适应机构凭借自身高适应性、高灵活性、高稳定性特点,已逐步应用至巡检机器人领域。对国内外非结构化环境下巡检机器人地面自适应机构的研究进展进行介绍,分为复合式移动机构和异形轮移动机构两个部分。复合式移动机构具体包括轮-履复合移动机构、轮-腿复合移动机构、腿-履复合移动机构,异形轮移动机构具体分为固定异形轮结构和变形轮结构。同时展望了地面自适应机构在机器人移动平台设计领域的发展趋势,为非结构化环境下巡检机器人的高效、可靠运行提供理论支撑。With the increasing demand for complex terrain operation,the ground adaptive mechanism has gradually been applied to the field of inspection robot due to its high adaptability,flexibility,and stability.The research progress on the ground adaptive mechanism of inspection robot in unstructured environment both domestically and internationally was introduced,and the introduction was divided into two parts such as composite mobile mechanism and irregular wheel mobile mechanism.The composite mobile mechanisms specifically include wheel-track composite mobile mechanism,wheel-leg composite mobile mechanism,and leg-track composite mobile mechanism.The irregular wheel mobile mechanisms are specifically divided into fixed irregular wheel structure and deformable wheel structure.At the same time,the development trend of the ground adaptive mechanism in the design field of robot mobile platform was also discussed to provide the theoretical support for the efficient and reliable operation of inspection robot in unstructured environment.

关 键 词：非结构化环境 巡检机器人 地面自适应机构 综述 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]