Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot

Yanwei Liu; Limeng Wang; Sanwa Liu; Tao Mei; Pengyang Li; Yan Li

doi:10.16578/j.issn.1004.2539.2019.08.016

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Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot

Design· Calculation | 更新时间：2022-09-25

- Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot
- Journal of Mechanical Transmission Vol. 43, Issue 8, Pages: 87-91(2019)
- 作者机构：
  
  1.西安理工大学机械与精密仪器工程学院，陕西西安 710048
  2.苏州融萃特种机器人有限公司，江苏苏州 215004
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.08.016
  CLC：
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刘彦伟,王李梦,刘三娃等.一种仿尺蠖爬壁机器人设计与分析[J].机械传动,2019,43(08):87-91.

Liu Yanwei,Wang Limeng,Liu Sanwa,et al.Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot[J].Journal of Mechanical Transmission,2019,43(08):87-91.
刘彦伟,王李梦,刘三娃等.一种仿尺蠖爬壁机器人设计与分析[J].机械传动,2019,43(08):87-91. DOI： 10.16578/j.issn.1004.2539.2019.08.016.

Liu Yanwei,Wang Limeng,Liu Sanwa,et al.Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot[J].Journal of Mechanical Transmission,2019,43(08):87-91. DOI： 10.16578/j.issn.1004.2539.2019.08.016.

摘要

针对在粗糙壁面和天花板上爬行的应用需求，提出一种仿尺蠖爬壁机器人。机器人采取与尺蠖类似的运动方式，两足交替抓附在壁面上，通过躯体屈曲-伸展动作完成前进、后退、壁面过渡运动。分析了尺蠖腹足对抓的原理，设计了仿生爪刺对抓足；对机器人爬壁过程进行了静力学和运动学分析；研制了机器人样机，并开展了爬壁性能实验测试。结果表明，仿尺蠖爬壁机器人可以实现在粗糙壁面、天花板上爬行，具有壁面间过渡的能力。

Abstract

Aiming at the application requirements of climbing on rough walls and ceilings, an inchworm-inspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to complete the forward, backward and wall transition movements. The grasping principle of the inchworm feet is analyzed and the bionic spiny gripper is designed. The statics and kinematics analysis of the robot during climbing process are carried out. The robot prototype is developed and several climbing experiments and tests are carried out. The results show that the inchworm-inspired wall-climbing robot can climb on rough walls and ceilings with the ability of transition between walls.

关键词

仿尺蠖机器人爬壁机器人爪刺对抓足粗糙壁面

Keywords

Inchworm-inspired robotWall-climbing robotSpiny gripperRough wall

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School of Mechanical-Electronic and Vehicle Engineering， Chongqing Jiaotong University

School of Robot Engineering and Mechanical-Electrical Engineering， Chongqing University of Arts and Sciences

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