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首页> 外文会议>Mechatronics, 2009. ICM 2009 >A novel passive adhesion principle and application for an inspired climbing caterpillar robot
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A novel passive adhesion principle and application for an inspired climbing caterpillar robot

机译：一种新颖的被动附着原理及其在启发式爬虫机器人上的应用

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摘要

This paper presents a novel passive adhesion principle which is used firstly for an inspired modular climbing caterpillar project. After a related survey on the natural creatures which can climb on the vertical surface with different materials, a systematical summarizing on four attachment methods adopted by climbing robots worldwide is given. Then a low-frequency vibrating passive attachment principle is presented in order to keep the merits and eliminate the shortcomings of using the normal active vacuum suckers. The adhesion principle, related mathematic model and rational testing are presented step by step. The new passive suckers based on this principle are used on an inspired modular climbing robot, which is currently under development in our consortium. On-site testing shows application of our passive suction method can free climbing robots from the heavy vacuum ejectors and realize an effective simple adsorption, furthermore improve the inspired technological level and flexibility of the locomotion capability.
机译：本文提出了一种新颖的被动附着原理，该原理首先用于启发性的模块化攀登毛毛虫项目。在对可以用不同材料在垂直表面上爬升的自然生物进行了相关调查之后，系统地总结了全球攀爬机器人采用的四种附着方法。然后提出了一种低频振动被动吸附原理，以保持其优点并消除使用普通主动真空吸盘的缺点。逐步介绍了附着力原理，相关的数学模型和合理的测试。基于此原理的新型无源吸盘可用于受启发的模块化攀爬机器人，该机器人目前正在我们的财团中开发。现场测试表明，采用我们的被动抽吸方法可以使机器人从重型真空喷射器中解放出来，并实现有效的简单吸附，进而提高了启发性的技术水平和运动能力的灵活性。

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