用于搭载船舶除锈清洗器的大型爬壁机器人

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衣正尧, 弓永军, 王祖温, 王兴如, 张增猛. 用于搭载船舶除锈清洗器的大型爬壁机器人[J]. 机器人, 2010, 32(4): 560-567.. YI Zhengyao, GONG Yongjun, WANG Zuwen, WANG Xingru, ZHANG Zengmeng. Large Wall Climbing Robots for Boarding Ship Rust Removal Cleaner. ROBOT, 2010, 32(4): 560-567..

摘要用于搭载船舶除锈清洗器的大型爬壁机器人(WCRSRR)具有搭载负载大、本体重的特点．本文综述了国内外关于WCRSRR的研究，分析了WCRSRR研究中面临的问题，总结了其关键技术，并预测了其发展趋势．

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	衣正尧
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关键词 ：船舶壁面除锈, 清洗器搭载, 爬壁机器人

Abstract：The wall climbing robot for boarding ship rust removal cleaner(WCRSRR) has the characteristics of big loading and heavy robot body.Research status of WCRSRR is reviewed,the main problems are analyzed,the key technologies are summarized,and the development trend is predicted.

Key words： ship wall rust removal cleaner boarding wall climbing robot

收稿日期: 2009-10-21 录用日期: 2010-04-28

TP24

基金资助:国家自然科学基金资助项目（50805011）；交通部基础研究项目（225030）；中远船务工程集团总公司重大项目（G2-07-0060）

通讯作者: 衣正尧 E-mail: yizhengyao@163.com

作者简介: 衣正尧（1983- ），男，博士．研究领域:机电一体化，爬壁机器人，水液压技术．
衣正尧（1983- ），男，博士．研究领域:机电一体化，爬壁机器人，水液压技术．
弓永军（1974- ），男，博士，副教授．研究领域:流体传动与控制，机电一体化，水液压技术．
王祖温（1955- ），男，博士，教授，博士生导师．研究领域:流体传动与控制，机电一体化，气动技术．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/560

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