Design and realization of a kind of rough wall climbing robot

摘要

In order to develop a low-noise climbing robot for a rough wall,research was done on the characteristics of an insecta foot,and a climbing robot's mechanical structure and kinematics were analyzed.The main crawling institutions were designed by a kind of bionic four-bar linkage.Spines were made of sharp claw hooks and the feet were composed of a number of toes which were of flexible structure with local degrees of freedom,adapting well to a rough wall.The characteristics of rough wall climbing were studied.A prototype model was built,and an analysis was made on the influence of the angle of spine inserting into the rough wall on the reliability of climbing.The experimental study indicates that the spine planning,structural design,and material selection are reasonable.