北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (2): 251-255.

• 论文 • 上一篇    下一篇

爬壁蠕虫机器人构型初探

王 巍, 王 坤, 李大寨, 宗光华   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2008-07-20 出版日期:2009-02-28 发布日期:2010-09-16
  • 作者简介:王 巍(1973-),男,湖北宜昌人,副教授,wangweilab@buaa.edu.cn.
  • 基金资助:

    国家自然科学基金资助项目(50605001);国家863计划资助项目(2006AA04Z250)

Basic research on configuration of climbing worm robot

Wang Wei, Wang Kun, Li Dazhai, Zong Guanghua   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-07-20 Online:2009-02-28 Published:2010-09-16

摘要: 根据松毛虫和尺蠖蠕动前行的特点以及仿生学原理,基于模块化思路分别提出了松毛虫和尺蠖爬壁机器人运动学构型.针对两种模型,讨论比较了它们的安全性和可用步态.通过分析松毛虫的蠕动步态和尺蠖步态,发现基于全主动关节驱动的松毛虫模型中存在冗余驱动问题.但由于松毛虫模型具有更多的可用步态,因此比尺蠖模型具有更高的安全性.这两种模型的样机由若干吸附模块和关节模块构成,以验证两种蠕虫机器人的爬壁能力.试验表明由于松毛虫机器人运动时存在冗余驱动,导致吸盘出现侧滑力,同时验证了尺蠖机器人在竖直壁面上的爬壁能力.为了进一步改进尺蠖机器人的吸附能力,采用了一种非对称的运动步态.

Abstract: Two novel module climbing caterpillar kinematics models according to the vermicular motion of the pine caterpillar and inchworm were presented. The differences of two models were indicated after the analysis of the valid gaits and climbing safety of them. Although the pine caterpillar model with all active joints introduces the redundant actuating to its locomotion but it has higher security than the inchworm model because of its more valid gaits. Two prototypes following the above two models were respectively constructed from some newly developed real adhesion and actuation modules to testify the climbing abilities of two caterpillar-like robots. The experiments show the sideslip of the suckers on the pine caterpillar robot induced by the redundant actuating and the locomotion ability of the inchworm robot on vertical wall. Besides that, an unsymmetrical gait was adopted by the inchworm robot to improve its adhesion reliability on the wall.

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