中文摘要：

为解决目前滑动式爬壁机器人能耗效率低下的问题,将低能耗设计技术应用到负压吸附机构设计中。开展了机器人安全吸附、负压吸附机构流体力学分析,得到了机器人工作负压、流量与吸盘尺寸、密封裙尺寸的关系,建立了机器人总体能耗与机器人尺寸之间的关系,并提出了应用现代计算流体力学方法,在负压发生器即离心风机上进行了流场仿真,对其特性进行了评价,并进行了滑动式负压吸附爬壁机器人负压吸附机构试验。其结果表明爬壁机器人系统能耗控制在298 W以内,负压吸附机构可提供2.5 kPa的负压,机器人可以稳定吸附在壁面,为爬壁机器人的低功耗设计提供了理论和实践基础。

英文摘要：

In order to solve the problems of sliding wall climbing robot＇s great power consumption and low efficiency design,a negative pressure generator of the low power consumption and high efficiency was investigated.After the analysis of robot＇s pressure needed and flow leakage fluid dynamics,the relationship between negative working pressure,suction mechanism＇s leakage flow and size of suction cup,sealing mechanism was established.With the computational fluid dynamics（CFD） tool,a low noise and high efficiency centrifugal fan was designed and the performances of low pressure generator were evaluated.The robot＇s overall power consumption under variable conditions were tested.The experimental results show that the power consumption is below 298 W,while 2.5 kPa negative pressure can be stably generated so that robot can stick firmly on wall.The theoretical and experimental result of research on wall climbing robot contributes to further perfecting the performance of robot.