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Development of a Wall-Climbing Robot with Biped-Wheel Hybrid Locomotion Mechanism
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机译:具有双足轮混合运动机制的爬壁机器人的开发
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摘要
This paper presents a wall-climbing robot for reconnaissance in anti-hijacking application. A novel biped-wheel hybrid locomotion mechanism is proposed, which is composed of a planetary gear train, a vacuum adhesion module and a negative pressure adhesion module. The bipedal, wheeled and hybrid locomotion modes are analyzed respectively. A prototype of the wall-climbing robot with compact size and low power consumption has been developed and a lot of performance tests have been conducted. The experimental results demonstrate that the wall-climbing robot has such characteristics as fast moving speed, excellent surface adaptability and obstacle negotiation capability.
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