摘要
目的随着爬壁机器人技术的发展,为解决其产品应用化问题,对爬壁机器人的研究进展进行梳理、分析和归纳,讨论未来的发展方向,为设计应用于高危环境和特殊场景的爬壁机器人提供思路和参考。方法将爬壁机器人按移动方式分为履带式、轮式、足式及混合式,通过文献研究法对不同移动方式的爬壁机器人进行综述;将真空吸附、磁吸附、推力吸附等不同吸附方式的爬壁机器人进行对比,介绍了爬壁机器人自适应技术的研究现状及存在问题;总结并分析了爬壁机器人在工业、军事等领域的发展趋势。结论总结了不同移动方式的爬壁机器人的国内外研究现状,分析了爬壁机器人不同吸附方式的优缺点,归纳预测了爬壁机器人的发展方向。
The work aims to sort out,analyze and summarize the research progress of wall-climbing robots in order to solve the practical application problems of products with the development of wall-climbing robot technology and discuss the future development directions to provide ideas and references for designing wall-climbing robots used in high-risk environments and special scenarios.Firstly,wall-climbing robots were divided into crawler,wheeled,legged,and hybrid wall-climbing robots according to movement modes.The wall-climbing robots with different movement modes were re-viewed by literature research method.Secondly,the wall-climbing robots with different adsorption methods such as vac-uum,magnetic,and thrust adsorption were compared.The research status and existing problems of adaptive technology of wall-climbing robots were introduced.Finally,the development trend of wall-climbing robots in industrial and military fields was summarized and analyzed.The research status of wall-climbing robots with different movement modes in China and abroad is summarized,the advantages and disadvantages of wall-climbing robots with different adsorption methods are analyzed,and the development directions of wall-climbing robots are summarized and predicted.
作者
姜泽
王珉
赵哲
李艺超
许允斗
JIANG Ze;WANG Min;ZHAO Zhe;LI Yi-chao;XU Yun-dou(Parallel Robot and Mechatronic System Laboratory of Hebei Province,Ministry of Education of China,Yanshan University,Hebei Qinhuangdao 066004,China;Yanshan University Library,Ministry of Education of China,Yanshan University,Hebei Qinhuangdao 066004,China;Key Laboratory of Advanced Forging&Stamping Technology and Science,Ministry of Education of China,Yanshan University,Hebei Qinhuangdao 066004,China)
出处
《包装工程》
CAS
北大核心
2023年第12期29-38,117,I0003,共12页
Packaging Engineering
基金
国家自然科学基金(51875495)
河北省教育厅在读研究生创新能力培养资助项目(CXZZBS2023059)。
关键词
爬壁机器人
移动方式
吸附方式
自适应性
wall-climbing robot
movement method
adsorption method
adaptivity
