湿吸附机理及其在仿生爬壁机器人中的应用

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度的壁面，可成功爬行 于坡度约65度的玻璃壁面，一定程度上验证了湿吸附机理爬壁机器人的可行性．

Wet Adhesion Mechanism and Its Application to Bionic Wall-climbing Robot

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$^\circ$, and climb up the slope of 65$^\circ$ of glass successfully. It means that it is feasible to develop wet adhesion inspired climbing robot.