带仿生吸盘的微型爬壁机器人设计及其吸附特性

摘要

Even with present technology, it is difficult to miniaturize a negative pressure suction mechanism. By analyzing the characteristics of various biological suction apparatuses, a bio-inspired suction cup was designed that overcomes current technological shortcomings. The suction cup uses a new kind of functional material, a shape memory alloy (SMA) , as an actuator. Once the cup was designed, a miniature wall climbing robot with bio-inspired suction cups was assembled. Force analysis of the elastic plate in the suction cup allowed a theoretical model of the negative pressure it generates to be built. A range of safe working conditions was also determined for when the robot climbs steeply sloping walls. Experiments indicate that the suction cups provide sufficient traction for the robot to climb an inclined glass wall.%针对现有爬壁机器人负压吸附装置不易微小型化的缺点,通过归纳生物负压吸附器官的结构特点,应用新型功能材料形状记忆合金作为驱动器设计了一种仿生负压吸盘,并以该吸盘为吸附机构,设计了一种微型爬壁机器人.在对仿生吸盘中的弹性体板作受力分析的基础上建立了该吸盘负压产生模型,并分析了机器人在垂直壁面上运动的安全性条件.实验表明,该仿生吸盘能作为的微型爬壁机器人的吸附机构,带仿生吸盘的微型爬壁机器人能在倾斜玻璃壁面上爬行.