• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 11-28.doi: 10.3901/JME.2023.05.011

• 机器人及机构学 • 上一篇    下一篇

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爬壁机器人研究现状及发展趋势

马吉良, 彭军, 郭艳婕, 陈雪峰   

  1. 西安交通大学机械工程学院 西安 710049
  • 收稿日期:2022-06-14 修回日期:2022-12-24 出版日期:2023-03-05 发布日期:2023-04-20
  • 通讯作者: 陈雪峰(通信作者),男,1975年出生,博士,教授,博士研究生导师。主要研究方向为主动控制与检测机器人、机械设备健康监测与智能维护。E-mail:chenxf@xjtu.edu.cn
  • 作者简介:马吉良,男,1998年出生,博士研究生。主要研究方向为仿生爬壁机器人黏附机理研究及应用。E-mail:xiaoma0233@stu.xjtu.edu.cn;彭军,男,1982年出生,博士,教授,博士研究生导师。主要研究方向为特种检测机器人和智能柔性传感。E-mail:pengjun@xjtu.edu.cn;郭艳婕,女,1988年出生,博士,高级工程师。主要研究方向为机械装备故障诊断理论、磨损图像识别技术和摩擦起电应用。E-mail:guoyanjie@xjtu.edu.cn
  • 基金资助:
    国家自然科学基金重大计划(92060302)和国家自然科学基金(52175248)资助项目。

Research Status and Development Trend of Wall Climbing Robot

MA Jiliang, PENG Jun, GUO Yanjie, CHEN Xuefeng   

  1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049
  • Received:2022-06-14 Revised:2022-12-24 Online:2023-03-05 Published:2023-04-20

摘要: 爬壁机器人是指能够依附在物体的表面进行多自由度移动并完成作业的机电系统,特别适用于执行特殊任务,因而具有良好的应用前景和广泛的市场需求。根据黏附机理的不同,爬壁机器人可分为负压吸附、静电黏附、仿壁虎干黏附、仿生湿黏附等类型。从黏附机理、应用范围以及黏附特点三个方面概述了爬壁机器人领域的国内外研究现状,为统一分析比较不同种类爬壁机器人的负载性能,提出基于比黏附能密度的机器人整体黏附性能分析方法,并为解决其大负载和小体积之间的矛盾提出新的材料和结构设计思路,分析微型爬壁机器人在航空发动机故障检测领域的应用前景,总结出其在材料智能化、驱动新型化、体积小型化和黏附机理协同化等方向的发展趋势。

关键词: 爬壁机器人, 黏附机理, 仿壁虎, 航空发动机检测机器人, 静电黏附

Abstract: Wall climbing robot is an electromechanical system that can move on the surface of objects and complete operations with multiple degrees of freedom. It is especially suitable for performing special tasks, so it has a good application prospect and broad market demand. According to different adhesion mechanisms, wall climbing robots can be divided into negative pressure adsorption, electrostatic adhesion, gecko-like dry adhesion, bionic wet adhesion and so on. The research status of wall climbing robots at home and abroad is summarized from three aspects: adhesion mechanism, application scope and adhesion characteristics. In order to analyze and compare the load performance of different types of wall climbing robots, an analysis method of robot overall adhesion performance based on specific adhesion energy density is proposed, and a new material and structure design idea is proposed to solve the contradiction between large load and small volume. The application prospect of micro wall climbing robot in aero-engine fault detection is analyzed, and its development trends in the fields of intelligent materials, new driving, miniaturization and collaboration of adhesion mechanism are summarized.

Key words: wall-climbing robot, adhesion principle, gecko-like, aero-engine inspection robot, electrostatic adhesion

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