一种仿生爪刺式履带爬壁机器人设计与分析

doi:10.13973/j.cnki.robot.180734

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刘彦伟, 刘三娃, 梅涛, 吴晅, 李言. 一种仿生爪刺式履带爬壁机器人设计与分析[J]. 机器人, 2019, 41(4): 526-533.DOI: 10.13973/j.cnki.robot.180734. LIU Yanwei, LIU Sanwa, MEI Tao, WU Xuan, LI Yan. Design and Analysis of a Bio-Inspired Tracked Wall-Climbing Robot with Spines. ROBOT, 2019, 41(4): 526-533. DOI: 10.13973/j.cnki.robot.180734.

摘要为提高爬壁机器人的粘附性能和脱附效率，实现高效爬行运动，提出了一种仿生爪刺式履带爬壁机器人．该机器人结合了腿式机器人容易脱附和履带式机器人粘附面积大的优点，在不增加额外驱动的前提下，实现了机器人爪刺足的可控粘附与脱附．首先，在东方绢金龟足部柔顺跗节链结构的启发下，设计了仿生柔顺爪刺结构来适应粗糙壁面形貌、提高足部粘附性能．然后，针对履带旋转运动引起爪刺脱附困难的问题，设计了一种双轨道机构来模仿昆虫足部粘附、脱附动作．最后，在多种粗糙壁面上开展了爬行实验，结果表明爪刺足粘附稳定且易于脱附．

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关键词 ：爬壁机器人, 仿生爪刺, 履带式机器人, 粗糙壁面, 仿生机构

Abstract：To improve the adhesive capacity and the detaching efficiency and achieve efficient locomotion of the wall-climbing robot, a bio-inspired tracked wall-climbing robot with spines is proposed. The robot combines the easy detachment feature of legged robots and the large adhesive area feature of tracked robots, and its spine feet achieve controllable attachment and detachment without additional actuators. Firstly, inspired by the compliant tarsus of the Serica orientalis Motschulsky, a bio-inspired compliant spine mechanism is designed to adapt to the rough wall morphology and improve the adhesive capacity. Then, considering the difficulty for spines to detach from wall surfaces caused by the rotary movement of the track, a mechanism with double tracks is designed to mimic the foot attaching and detaching movements of insects. Finally, climbing experiments on several rough wall surfaces are conducted, and the results show that the attachment of spine feet is stable and the detachment is easy.

Key words： wall-climbing robot bio-inspired spine tracked robot rough wall bio-inspired mechanism

收稿日期: 2018-12-05 录用日期: 2019-03-12

TP242

基金资助:国家自然科学基金（51805431）；国家重点基础研究发展计划（2011CB302106）；陕西省自然科学基础研究计划（2018JQ5062）

通讯作者: 刘彦伟,liuyw@xaut.edu.cn E-mail: liuyw@xaut.edu.cn

作者简介: 刘彦伟(1987-),男,博士,讲师.研究领域:仿生机器人,特种机器人.
刘三娃(1993-),男,硕士生.研究领域:仿生机器人.
梅涛(1962-),男,博士,研究员.研究领域:信息获取科学与技术,特种机器人,微机电系统.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180734 或 https://robot.sia.cn/CN/Y2019/V41/I4/526

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