轻型爬行制孔机器人足部机械结构设计  

Design of the Foot Mechanical Structure of the Light-Weight Crawling Hole-Making Robot

作　　者：曹玉文 刘荣[1] 张玉枫 徐明 CAO Yuwen;LIU Rong;ZHANG Yufeng;XU Ming(School of Mechanical Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100191,China)

机构地区：[1]北京航空航天大学机械学院,北京100191

出　　处：《机械设计与制造》2025年第4期355-361,366,共8页Machinery Design & Manufacture

摘　　要：飞机制造业是国家战略性产业,对国家的军事安全有重大影响,对经济和科技发展有重大推动作用。针对飞机机身、机翼等大部件结构装配制孔需求,设计了一种在变曲率曲面上能够有效纠偏、调姿的爬行机器人。针对飞机爬行机器人机构在做调姿运动时出现的卡死问题,设计了足部机械结构,先通过构建转角与飞机曲面曲率的关系确定球铰的转动范围。然后设计了基于导轨钳制器和基于气浮块的两种变自由度吸附的足部变自由度机械结构。分析比较了两者的优缺点,设计了相应的气动控制系统。进行模拟仿真,发现隐藏的设计问题缺陷,缩短研发周期。制造加工装配样机并进行爬行与吸附实验,验证了设计的可行性。The aircraft manufacturing industry is a national strategic industry,which has a major impact on the country’s mili⁃tary security and has a major role in promoting economic and technological development.Aiming at the requirement of assem⁃bling holes for the structure of large parts such as aircraft fuselage and wings,a crawling robot that can effectively correct devia⁃tion and adjust attitude on a curved surface with variable curvature is designed.Aiming at the stuck problem of the aircraft crawl⁃ing robot mechanism during the posture adjustment movement,the foot mechanical structure was designed,and the rotation range of the spherical hinge was determined by constructing the relationship between the rotation angle and the curvature of the aircraft surface.Then,a mechanical structure with two variable degrees of freedom adsorption based on the guide rail clamp and the air float block is designed.The advantages and disadvantages of the two are analyzed and compared,and the corresponding pneumatic control system is designed.Carry out simulation to find hidden design problems and shortcomings to shorten the devel⁃opment cycle.Manufacturing,processing and assembling prototypes and conducting crawling and adsorption experiments to veri⁃fy the feasibility of the design.

关 键 词：爬行机器人 机械结构设计 自适应吸附 

分 类 号：TH16[机械工程—机械制造及自动化] V261[航空宇航科学与技术—航空宇航制造工程] TP242[自动化与计算机技术—检测技术与自动化装置]