According to the various working conditions of various climbing robots,a kind of deformation and adaptive climbing mechanism is designed.Through the expansion movement of the push rod motor and a micro pressure sensor,the clamping force of each wheel set is contor-lled,so the clamping force can be maintained in a reasonable range to enable the robot to have good climbing stability and movement flexibility.In pole climbing process,if the bar diameter changes,the robot can adaptively adjust.The static analysis is also conducted on the state of the robot climbing pole and climbing wall,which has important practical engineering application val-ue.%针对多种攀爬机器人多样的工作环境，设计了一种变形机构和具有自适应性的攀爬机构。通过变形机构的伸缩运动改变自身形态，以实现圆柱杆状面以及金属壁面的攀爬；通过推杆电机的伸缩运动和微型压力传感器的作用，可以控制各轮对杆面的夹持力，因此夹持力可维持在合理范围内，使机器人具有良好的攀爬稳定性和运动灵活性，爬杆过程中如果杆的直径发生变化，机器人可以自适应调节。同时，对机器人爬杆和爬壁时的状态进行了静力学分析。
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