仿生尺蠖墙壁爬行机器人设计  

Design of Bionic Inchworm Wall Crawling Robot

作　　者：罗剑荣 陈岗 LUO Jianrong;CHEN Gang(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin 541004)

机构地区：[1]桂林电子科技大学机电工程学院,桂林541004

出　　处：《现代制造技术与装备》2025年第3期26-28,共3页Modern Manufacturing Technology and Equipment

基　　金：2023年国家级大学生创新训练计划立项项目“仿尺蠖软体爬行机器人”(202310595063)。

摘　　要：在日常生活中,高空作业不可避免,人工高空外墙作业存在较大危险性。因此,提出一种墙壁爬行机器人的设计方案,参考尺蠖的“Ω”变形运动方式和体型柔软的特性,采用真空气泵作为驱动。建立三维立体模型样机,利用SolidWorks Simulation中的分析功能对机器人的主要运动部件进行受力分析和有限元计算,然后根据有限元分析结果来改进结构。最后,制作实验模型进行实地测试,验证总体设计方案的可行性和有效性,为墙壁爬行机器人的设计提供参考。It is inevitable to work at high altitude in daily life,and the operation of artificial high altitude exterior wall has great danger.Therefore,a design scheme of a wall-crawling robot is proposed,which is driven by a vacuum air pump,referring to the“Ω”deformation mode and soft body characteristics of inchworm.The 3D model prototype is established,and the force analysis and finite element calculation of the main moving parts of the robot are carried out by using the analysis function of SolidWorks Simulation,and then the structure is improved according to the finite element analysis results.Finally,an experimental model is made for field test,which verifies the feasibility and effectiveness of the overall design scheme,and provides a reference for the design of the wall-crawling robot.

关 键 词：墙壁爬行机器人 仿生 尺蠖 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]