一种多吸盘爬壁机器人原型的研制  

Prototype development of a kind of multi-suckered wall-climbing robot

作　　者：孟宪超[1] 王祖温[1] 包钢[1] S K TSO 邵浩[2] 

机构地区：[1]哈尔滨工业大学机电学院,黑龙江哈尔滨150001 [2]香港城市大学

出　　处：《机械设计》2003年第8期30-34,共5页Journal of Machine Design

基　　金：香港政府工程研究基金 (CERG # 90 4 0 4 0 7);科技创新署科技创新基金 (ISF # 9350 0 0 6)

摘　　要：介绍了一种仿坦克的爬壁机器人原型设计 ,该机器人新颖之处在于采用多个吸盘组成的吸附机构和单链条爬行及转向机构 ,它可以在玻璃幕墙和船壳等墙面上连续爬行 ,并有一定的越障能力。主要阐述了爬壁机器人关键结构的设计、安全性分析、转弯技术和越障实现的设计思想 。The prototype design of a kind of tank imitationed wall-climbing robot was expounded in this paper. The novel part of this robot lies in the adoption of adsorption mechanism composed of multi-suckers and of single chain crawling and steering mechanism. It can crawling continuously on glass walls or on ship hulls etc., and possesses certain barrier exceeding ability. This paper expounded mainly on its design of key structures, analysis of safety property, steering technique and designing thought for realizing barrier transcendence. And a brief introduction was carried out upon its controlling system.

关 键 词：爬壁机器人 原型 研制 吸盘 链条 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]