仿壁虎高机动爬行软体机器人设计与运动分析

doi:10.3901/JME.260451

摘要/Abstract

摘要： 针对传统软体移动机器人机动性与越障能力不足的问题，受壁虎步态启发，提出了一种基于多腔体轮腿式结构的仿生软体机器人设计策略。采用硅橡胶超弹性气动肌肉构建四气腔执行器结构，融合被动式单向旋转特性的轮腿结构与执行器，以壁虎式步态进行运动控制，将执行器弯曲运动转化为机器人的多种爬行步态。通过单一或组合步态实现机器人直行、转向、越障等动作，使其具备较好的机动性。同时，基于力矩平衡原理，建立了气动肌肉气压值-机器人弯曲角度、步长模型，以精准控制机器人穿越密闭空间、倾斜表面、沟壑、台阶等多样化障碍。结果表明，所设计的机器人最大前进速度达115 mm/s (0.605 BL/s)，最小转向半径为235 mm (1.24 BL)，垂直越障高度达20 mm，综合性能优异，在灾害救援、狭缝探测等极端环境领域具有一定应用潜力。

关键词: 气动执行器, 软体机器人, 多模态运动, 轮腿结构, 越障

Abstract: Aiming at the limitations in mobility and obstacle-crossing capability of traditional soft mobile robots, this work proposes a bio-inspired soft robot design strategy based on a multi-chamber wheel-legged structure, inspired by the gait of geckos. Silicone rubber hyper-elastic pneumatic muscles are employed to construct a four-chamber actuator structure. By integrating the wheel-legged mechanism with passive unidirectional rotation characteristics and the actuator, and adopting a gecko-like gait for motion control, the bending motion of the actuator is transformed into various crawling gaits of the robot. Through single or combined gaits, the robot achieves straight-line movement, steering, and obstacle crossing, demonstrating enhanced mobility. Furthermore, based on the principle of moment balance, a model correlating pneumatic muscle pressure with the robot’s bending angle and step length is established to precisely control the robot’s traversal through confined spaces, inclined surfaces, trenches, steps, and other diverse obstacles. Experimental results indicate that the designed robot achieves a maximum forward speed of 115 mm/s (0.605 BL/s), a minimum turning radius of 235 mm (1.24 BL), and a vertical obstacle-crossing height of 20 mm, demonstrating excellent overall performance. The robot shows promising application potential in extreme environments such as disaster rescue and narrow gap detection.

Key words: pneumatic actuators, soft robot, multimodal movement, wheel-leg structure, obstacle negotiation

中图分类号:

TP242

赵春, 刘宋佳铭, 吴成尖, 孙蒙恩, 唐刚强, 王延杰. 仿壁虎高机动爬行软体机器人设计与运动分析[J]. 机械工程学报, 2026, 62(13): 77-86.

ZHAO Chun, LIU Songjiaming, WU Chengjian, SUN Mengen, TANG Gangqiang, WANG Yanjie. Design and Motion Analysis of a Gecko-inspired Highly Mobile Crawling Soft Robot[J]. Journal of Mechanical Engineering, 2026, 62(13): 77-86.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260451

http://www.cjmenet.com.cn/CN/Y2026/V62/I13/77

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