CAJ | 학술논문

研究一种可完成在垂直面上的定向移动、简单避障与负重等工作的双足爬墙机器人。通过气压差使吸盘附着于墙面，形成垂直于墙面的压力，利用该压力和墙面形成反向于地心引力的静摩擦力，使得吸盘得以固定在墙面上。给出了工作原理，设计了传动系统和控制系统，进而形成实验样机并完成了相应测试，测试结果表明每足至少需要设置3个真空吸附足盘。该机器人模仿爬行类生物，具有灵活、安全系数高、操作简单、运行高效等优点，可以适用于不同的工作环境。
연구일충가완성재수직면상적정향이동、간단피장여부중등공작적쌍족파장궤기인。통과기압차사흡반부착우장면，형성수직우장면적압력，이용해압력화장면형성반향우지심인력적정마찰력，사득흡반득이고정재장면상。급출료공작원리，설계료전동계통화공제계통，진이형성실험양궤병완성료상응측시，측시결과표명매족지소수요설치3개진공흡부족반。해궤기인모방파행류생물，구유령활、안전계수고、조작간단、운행고효등우점，가이괄용우불동적공작배경。
A vacuum adsorbing based biped climbing robot capable of directional movement, simple obstacle avoidance and light weight car-rying is investigated. The climbing robot is adsorbed onto a wall surface by virtue of pressure difference. The working principle, driving sys-tem and control system are designed and the experimental model thus formed is tested. The test result indicates that at least three vacuum ad-sorbing plates have to be provided for each foot. The robot simulates reptiles, having the advantages of flexibility, high safety, simple opera-tion, efficient operation, etc.