Development of a Small Legged Wall Climbing Robot with Passive Suction Cups
Development of a Small Legged Wall Climbing Robot with Passive Suction Cups
复制标题
被动吸盘小腿爬墙机器人的研制
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
K. Kikuchi
中科院分区：
文献类型：
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作者：
S. Kawasaki;K. Kikuchi
本文研制了一种带有被动吸盘的小型六足机器人，实现了垂直爬壁。被动附着机构使机器人系统小型且简单，因为它既不需要能量也不需要额外的致动器来保持在垂直壁上。最重要的是，被动吸盘适合垂直爬墙，因为它牢固地附着在具有光滑表面的墙壁上，并且通过拉动吸盘的边缘可以简单地从墙壁上拆卸下来。这些特征随着机器人规模的减小而增强。在这项研究中，我们开发了一个小型爬壁机器人12厘米长，34克的重量和驱动的单自由度连杆腿的比例效应的基础上。通过遗传算法优化的连杆机构提供了腿的有效运动轨迹和附着-分离周期。结果，机器人以2.7 cm/s的速度在地面上行进，并以2.2 cm/s的速度在垂直墙壁上攀爬。
In this paper, we develop a small hexapod robot with passive suction cups and realize vertical wall climbing. The passive adhesion mechanisms make the robotic system small and simple, since it requires neither energy nor an additional actuator to stay on the vertical wall. Above all, the passive suction cup is suited to vertical wall climbing because it is strongly attached to a wall with a smooth surface and is simply detached from it by pulling the edge of the cup. These characteristics are intensified according to the decreasing robotic scale. In this study, we developed a small wall climbing robot 12 cm long and 34 g in weight and driven by single degree-of-freedom linkage legs based on the scale effect. Here, the linkage mechanism optimized by a genetic algorithm provided the effective trajectory of the legs and the attachment-detachment cycle. As a result, the robot traveled on the ground at a velocity of 2.7 cm/s and climbed on the vertical wall at a velocity of 2.2 cm/s.