湿吸附机理及其在仿生爬壁机器人中的应用

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黎明和, 何斌, 岳继光, 陆汉雄, 周艳敏. 湿吸附机理及其在仿生爬壁机器人中的应用[J]. 机器人, 2010, 32(5): 577-585.. LI Minghe, HE Bin, YUE Jiguang, LU Hanxiong, ZHOU Yanmin. Wet Adhesion Mechanism and Its Application to Bionic Wall-climbing Robot. ROBOT, 2010, 32(5): 577-585..

摘要提出一种新的基于湿吸附机理的仿生爬壁机器人．首先讨论湿吸附模型及吸附力的控制方法，对一种基于硫化硅橡胶（聚合物）的仿生足垫的湿吸附力进行测试，由此验证足垫与壁面间的液体薄膜对吸附力的积极影响．然后设计一种实验研究用的轮爪式仿生爬壁机器人，并对其进行静力学分析．最后对所设计的机器人进行爬壁试验．结果表明，液体薄膜可以有效提高足垫吸附力，所研制的湿吸附机器人可吸附于约85°的壁面，可成功爬行于坡度约65°的玻璃壁面，一定程度上验证了湿吸附机理爬壁机器人的可行性．

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	黎明和
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	陆汉雄
	周艳敏

关键词 ：湿吸附系统, 轮爪机器人, 爬壁机器人, 仿生学

Abstract：A new bionic wall-climbing robot based on wet adhesion mechanism is proposed.The wet adhesion model and adhesive force control method are discussed firstly.The wet adhesive forces of bionic pad made of vulcanized silicone rubber(polymer) are measured secondly,and it is demonstrated that a thin liquid layer between the pad and the wall helps to generate adhesive forces.An experimental bionic wheel-leg climbing robot is designed,and the statics is analyzed thirdly. Wall climbing experiments on the proposed robot are conducted finally.The experimental results show that the thin layer helps to increase the adhesive forces.Currently,the robot can stop at the wet slope of 85°,and climb up the slope of 65°of glass successfully.It means that it is feasible to develop wet adhesion inspired climbing robot.

Key words： wet adhesion system wheel-leg robot climbing robot bionics

收稿日期: 2009-12-07 录用日期: 2010-04-14

TP24

基金资助:国家自然科学基金资助项目（50405045）；国家863计划资助项目（2007AA042253）

通讯作者: 黎明和 E-mail: limingheliming@sina.com, limingheliming@21cn.com

作者简介: 黎明和（1980- ），男，博士生．研究领域：仿生机器人，图像处理．
何斌（1975- ），男，博士，教授．研究领域：仿生机器人．
岳继光（1961- ），男，博士，教授．研究领域：过程控制，数据可视化．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/577

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