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中文摘要：
面向农业、林业和建筑等领域的高空作业,提出一种具有攀爬和操作功能的双手爪式模块化仿生机器人,以期代替人们在高空复杂环境中从事危险工作。给出机器人的一种5自由度构型,分析其在空间两杆之间攀爬过渡的能力,然后根据其构型特征提出、分析和比较三种攀爬步态。在ADAMS仿真环境下,对机器人采用这三种步态攀爬各种方位的杆件时主要关节所需的力矩和机器人所消耗的能量进行计算和对比。仿真结果为机器人的攀爬步态规划提供了依据。
英文摘要：
A novel biped robot with both climbing and manipulation functions is proposed for dangerous high-altitude operation in new potential fields of robotic applications such as agriculture, forestry, and construction. The structure of 5 degrees of freedom is presented for this robot, and the feasibility of the robot transiting between two cylindrical poles in any orientations is proved. Three climbing gaits are proposed and analyzed. The joint torque and energy consumption of the robot when it climbs poles in various orientations are calculated and compared in the simulation with the software tool ADAMS. The results are significant for gait planning with such biped climbing robots.
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