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爬壁机器人尖爪型仿生脚掌设计
  • ISSN号：1001-4551
  • 期刊名称：《机电工程》
  • 时间：0
  • 分类：TP242.3[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]南京航空航天大学仿生结构与材料防护研究所,江苏南京210016, [2]南京航空航天大学机电学院,江苏南京210016
  • 相关基金：国家高技术研究发展计划（“863”计划）资助项目（2007AA042201）;国家自然科学基金重点资助项目（50635030）;国家航空科学基金资助项目（2007ZA52008）
作者： 管兴伟[1,2], 张昊[1], 吉爱红[1], 戴振东[1]
关键词： 仿生设计, 爬壁机器人, 脚掌结构, 有限元法, bionic design , wall-climbing robot , foot structure , finite element method （FEM）
中文摘要：

为了设计出适合爬壁机器人使用的脚掌，对大黄蜂等昆虫的足掌结构进行了研究，同时对几种爬壁机器人脚掌结构进行了对比分析，采用了带有尖爪的仿生脚掌结构。该脚掌利用尖爪实现抓附，并由一根柔索传递驱动力；根据大黄蜂跗节链的运动机理设计了脚掌关节、脚掌跗节和脚掌尖爪，并辅以有限元法对其强度进行计算校核。实验结果表明，该尖爪型仿生脚掌可以实现多足爬壁机器人在粗糙壁面上稳定、可靠地爬行。

英文摘要：

A new-style foot for wall-climbing robot was designed in claw structure, by observing hornet foot and analyzing several existed foot structure of wall-climbing robot. This kind of bio-mimetie foot was driven by a flexible cable, which grabbed the wall surface with claws. According to the locomotion mechanism of hornet tarsus chain, the foot joint, foot tarsus and claw were modified with the optimal design by finite element method （FEM）. The test results indicate that, the claw-inspired foot meets the requirement（ stability and reliability） of the multi-legged wall-climbing robot climbing on the rough wall.

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期刊信息
  • 《机电工程》
  • 中国科技核心期刊
  • 主管单位:浙江省机电集团有限公司
  • 主办单位:浙江大学 浙江省机电集团有限公司
  • 主编：赵群
  • 地址：浙江省杭州市大学路高官弄9号
  • 邮编：310009
  • 邮箱：meem_contribute@163.com
  • 电话：0571-87239525
  • 国际标准刊号：ISSN：1001-4551
  • 国内统一刊号：ISSN：33-1088/TM
  • 邮发代号:32-68
  • 获奖情况:
  • 《机电工程》杂志是《中文核心期刊要目总览》1997...
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  • 被引量:12715