爬壁机器人尖爪型仿生脚掌设计*

作者：管兴伟1,2，张昊1，吉爱红1，戴振东1 日期：2009-02-23/span> 浏览：3771 查看PDF文档

爬壁机器人尖爪型仿生脚掌设计*

管兴伟1,2，张昊1，吉爱红1，戴振东1
（1.南京航空航天大学 仿生结构与材料防护研究所，江苏 南京 210016；2.南京航空航天大学 机电学院，江苏 南京 210016）

摘要：为了设计出适合爬壁机器人使用的脚掌，对大黄蜂等昆虫的足掌结构进行了研究，同时对几种爬壁机器人脚掌结构进行了对比分析，采用了带有尖爪的仿生脚掌结构。该脚掌利用尖爪实现抓附，并由一根柔索传递驱动力；根据大黄蜂跗节链的运动机理设计了脚掌关节、脚掌跗节和脚掌尖爪，并辅以有限元法对其强度进行计算校核。实验结果表明，该尖爪型仿生脚掌可以实现多足爬壁机器人在粗糙壁面上稳定、可靠地爬行。
关键词：仿生设计；爬壁机器人；脚掌结构；有限元法
中图分类号：TP242.3文献标识码：A文章编号：1001-4551(2009)02-0001-04

Development of claw-inspired foot structure for wall-climbing robot
GUAN Xing-wei1,2, ZHANG Hao1, JI Ai-hong1, DAI Zhen-dong1
(1.Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016,China;
2.College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China)
Abstract: A new-style foot for wall-climbing robot was designed in claw structure, by observing hornet foot and analyzing several existed foot structure of wall-climbing robot. This kind of bio-mimetic foot was driven by a flexible cable, which grabbed the wall surface with claws. According to the locomotion mechanism of hornet tarsus chain, the foot joint, foot tarsus and claw were modified with the optimal design by finite element method (FEM). The test results indicate that, the claw-inspired foot meets the requirement(stability and reliability) of the multi-legged wall-climbing robot climbing on the rough wall.
Key words: bionic design; wall-climbing robot; foot structure; finite element method(FEM)