Grasping mechanism and prototype experiment of bionic sharp hook on rough surface
Grasping mechanism and prototype experiment of bionic sharp hook on rough surface
复制标题
仿生尖钩粗糙表面抓取机理及原型实验
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Yang Zhong
中科院分区：
文献类型：
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作者：
Wang Bei;Xu Fengyu;Yang Zhong
爬行机器人被广泛用于检测光滑的墙壁，如玻璃幕墙和瓷砖表面。然而，还没有找到一种好的吸附方法来检查悬崖面和尘土飞扬的小幅度振动的高空建筑物。在本研究中，提出并应用了一种新的吸附方法，即利用抓爪附着在粗糙的墙壁上。建立了粗糙壁上夹持器与上浮相互作用的力学模型，分析了夹持器的力平衡临界态。此外，还利用MatLab进行了仿真，并设计了实验样机来测试夹持器的抓取稳定性。模拟和实验结果表明，该抓持器可以很好地实现对粗糙混凝土墙体的抓取吸附。这些发现为构建粗糙爬壁机器人系统提供了基础。
Climbing robots are widely used to inspect smooth walls, such as glass curtain walls and ceramic tile surfaces. However, a good adsorption method for inspecting a cliffface and dusty high-altitude buildings with small-amplitude vibration has not been found. In this study, a new adsorption method using grasping claw grippers to adhere to rough walls is proposed and applied. A mechanical model for the interaction between the gripper and the uplifts on rough walls is also established to analyze the critical state of force balance of the gripper. In addition, MATLAB is used in a simulation, and an experimental prototype is designed to test the grasp stability of the gripper. Simulation and experiment results indicate that the gripper can adequately achieve grasping adsorption on a rough concrete wall. The findings provide a foundation for constructing a system for a rough-wall-climbing robot.