中文摘要：

爬壁机器人滑动式负压吸盘的吸附特性对整个机器人系统的可靠工作至关重要,空气泄漏是影响吸附特性的关键因素。目前研究的爬壁机器人吸盘结构都有摩擦力大,运动不灵活的缺点。为了提高机器人运动的灵活性,改进吸盘结构,通过模拟计算,得到不同缝隙高度下爬壁机器人滑动吸盘内空气泄漏量、压力场和速度场的分布,并对不同结构尺寸下的结果进行了比较,为吸盘结构的改进提供了依据。

英文摘要：

Sliding wall climbing robot＇s adsorption performance is essential for the reliability of the entire robot system,and air leakage is a key factor affecting adsorption performance.The present study of climbing robot suction has the shortcomings of big friction and inflexible movement.Based on CFD simulation calculation,the distribution of air leakage flux and pressure inside sliding suction cup is obtained under different cracks height,and the results are compared under different structure sizes,which provides a basis for the improvements of the sealing mechanism.Experiments verify the reliability of the CFD simulation.