一种仿生爪刺式履带爬壁机器人设计与分析

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附节链结构的启发下,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.

Design and Analysis of a Bio-Inspired Tracked Wall-Climbing Robot with Spines

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.