滚轮黏附式爬壁机器人的附着机理及应用试验研究

壁虎依靠脚掌上的纳米级刚毛,可以附着在光滑的壁面甚至天花板上,并且可以以较快的速度自如爬行。以分子间作用力为附着机制的仿壁虎黏附爬壁机器人,在军事和民生领域都有非常迫切和广阔的应用需求。壁虎在壁面爬行时,足端斜向上运动带动脚趾以一定角度旋转脱离接触面,以这种稳黏附、易脱附的爬壁机制为启示,设计了一种滚轮黏附式的仿生爬壁机器人。开展了机器人爬壁状态下的力学原理分析,得到了电机扭矩、机器人自重与黏附力的关系。在采用电机驱动、齿轮传动的四驱结构的基础上,设计了稳黏附、易剥离的四辐条滚轮机构,实现了轮式机器人在光滑壁面的爬行。通过拍摄并分析机器人爬壁的高速视频,得到了机器人爬壁的启动加速度和稳定后的爬行速度。为了进一步测试分析机器人爬行于不同倾角平面时黏附力的变化范围及变化规律,设计了精度为3 mN的二维力传感测试平台,验证了仿壁虎机器人轮式黏附垫的黏附性能,结果显示研制的滚轮黏附式爬壁机器人可以在光滑垂直壁面上实现快速稳定地爬行。

Adhesive Mechanism and Application Research of a Roller-adhering Wall-Climbing Robot

The gecko is able to attach to smooth walls or even ceilings and climb at a fast rate,relying on the nano-scale bristles on the palm.The gecko-inspired wall-climbing robot with intermolecular force as the attachment mechanism has very urgent and broad application requirements in the military and peoples livelihood fields.When the gecko climbs on the wall,the oblique movement of the foot end drives the toe to rotate away from the contact surface at a certain angle.With the inspiration of the wall climbing mechanism,which can adhere stably and detach easily,a roller-adhering bionic wall-climbing robot was designed.The mechanical principle analysis of the robot climbing state was carried out,and the relationship between the motor torque,the weight of the robot and the adhesion force was obtained.On the basis of the four-wheel drive structure drived by one gear motor and gear transmission,a four-spoke roller mechanism which can adhere stably and detach easily was designed to realize the climbing of the wheel-type robot on the smooth wall.By shooting and analyzing the high-speed video of the robot climbing wall,the starting acceleration and the climbling speed after stabilization of the robot were obtained.In order to further test and analyze the variation range and variation law of the adhesion force of the robot climbing on planes with different inclination,a twodimensional force sensing test platform with a precision of 3mN was designed.The adhesion performance of wheel-type adhesion pad on the gecko-inspirad robot is verified.The results show that the developed roller-adhering wall-climbing robot can climb quickly and stably on a smooth vertical wall.