CAJ | 학술논문

为解决爬墙机器人载重小、效率低等问题，提出了一种利用涵道风扇的斜推力使机器人吸附在墙面的爬墙原理，并制作了一款样机验证原理的可行性。这种爬墙机器人的风扇推力与墙面之间有一个夹角，将推力分解成沿墙面竖直向上的分力和垂直于墙面的附着力。机器人依靠风扇向上的分力和因附着力产生的摩擦力的合力而停附在墙面。通过实验，机器人停附在墙面上所需推力小于自身重力，推力的利用率高。
위해결파장궤기인재중소、효솔저등문제，제출료일충이용함도풍선적사추력사궤기인흡부재장면적파장원리，병제작료일관양궤험증원리적가행성。저충파장궤기인적풍선추력여장면지간유일개협각，장추력분해성연장면수직향상적분력화수직우장면적부착력。궤기인의고풍선향상적분력화인부착력산생적마찰력적합력이정부재장면。통과실험，궤기인정부재장면상소수추력소우자신중력，추력적이용솔고。
In order to improve theloading capacity and effciency ofthe wall -climbing robot, the theory about how to have the robot adsorbed on the wall by making use of the oblique thrust of the culvert fan is put forward.And the model machine is used to test and verify thefeasibility of the theory.There is an included angle between the fan′s thrust and wall space.So the thrust can be divided into two parts:the upward component force along the wall and the adhesive force perpendicular to the wall, and then the former one and the friction force caused by the latter one will be composed to make the robot on the wall.The conclu-sion can be reached by experiment research that when the thrustkeeping the robot on the wall is less than its own gravity, the effect of the thrust is better.