Design and Analysis of a Bio-inspired Tracked Wall-climbing Robot with Spiny Grippers
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摘要: 针对粗糙壁面和天花板上爬行的应用需求，基于毛虫腹足趾钩阵列对抓机理，提出了一种仿生爪刺对抓式履带爬壁机器人。该机器人履带由数十个仿生爪刺对抓足通过链条结构连接构成，仿生爪刺对抓足与机器人本体构成凸轮机构，模仿毛虫爬行过程中腹足趾钩的抓附、脱附动作，能够实现在粗糙天花板和壁面上稳定爬行。建立了毛虫腹足趾钩阵列对抓机理模型，仿生设计了爪刺对抓式履带爬壁机器人，分析了机器人爬行过程中仿生爪刺对抓足的抓附、脱附动作，并在粗糙天花板和壁面上对机器人样机开展了爬行实验。Abstract: Aiming at the application requirements of climbing on rough walls and ceilings, based on the gripping mechanism of caterpillar preleg crochets, a bio-inspired tracked wall-climbing robot with spiny grippers is developed. The robot's tread consists of dozens of spiny grippers connected by chain structure, and constitutes a cam mechanism with the robot body, which is used to mimic the gripping and releasing movements of the crochets of the ctaterpillar preleg in climbing. The robot can climb steadily on rough walls and ceilings. The gripping mechanism model for the caterpillar preleg crochets is established, the bio-inspired tracked wall-climbing robot is designed, and the gripping and releasing movements of the foot in the climbing process are analyzed, and several climbing experiments of a robot prototype are carried out on a variety of rough walls and ceilings.
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Key words:
- climbing robots /
- spiny gripper /
- rough ceiling /
- mechanisms
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