具有轮换移动机构的爬壁机器人研究

基于仿生学原理，章提出了一种具有良好越障性能及快速移动的新型爬壁机器人设计方案。中首先简要介绍了该机器人的工作原理，其中包括设计思想和自适应式多真空吸盘。详细描述了转换移动机构的越障特性，并用机器人学的理论对机器人的运动学和动力学进行了分析，并进行了仿真计算，最后得到有关结论。

Research on Wall-climbing Robot with Alternatively Moving Mechanism

Based on a bionics principle, a new type of wall climbing robot design has been put forward with good obstacle surmounting abilities and high moving speed. In this paper, the principle of the robot is briefly described first, including its conceptual design, self adjusting multi vacuum sucker and leg walking mechanism; then the obstacle surmounting feature of the walking mechanism is presented in detail. The kinematics and dynamics of the movement of the robot are also analyzed based on robotics theory. Furthermore, it gives the conclusion based on the simulation programme.