中文摘要：

双爪式攀爬机器人已成为一类重要的和主流的攀爬机器人,这类机器人中两端手爪对攀爬对象抓夹的安全性和可靠性是攀爬的前提条件和基本要求,也是一个关键问题。基于此,在介绍自行开发的双爪式爬杆机器人Climbot之后提出这类机器人抓夹圆杆时的夹持力封闭性问题,对封闭性进行论证。分别分析机器人进行平面攀爬和空间攀爬时对支撑端夹持器产生的负载形式,建立其力平衡模型。基于该模型,计算夹持器的各种尺寸参数对夹持性能的影响,并对计算结果进行系统的分析。通过几组攀爬夹持试验对提出的夹持模型进行验证。结果对夹持器的设计和攀爬安全性的保证具有重要的参考和指导意义。

英文摘要：

Biped climbing robots have become an important class of climbing robots, where the reliability of pole-grasping with the end grippers is a basic and critical requirement for safe climbing, and the analysis of grasping reliability is a key issue. A biped pole-climbing robot, the Climbot developed is first introduced. The problem of force-closure of grasping with the robot climbing on a round pole is presented and proved. The dynamic loads generated onto the base gripper when the robot climbs in different climbing gaits are analyzed, and the balance models are proposed, respectively, in 2D and 3D cases. Based on these models, the effect of geometric parameters of the gripper on grasping performance is analyzed. The correctness of the models and effectiveness of the corresponding analysis are verified with several grasping experiments. The results are helpful and valuable to gripper design for biped climbing robots and guarantee of grasp reliability.