DEVELOPMENT OF WALL-CLIMBING ROBOT

人们对能够在垂直墙上移动的机器人期待已久。可用于高层建筑的抢险、墙体检测、灭火等。在过去的25年里，宫崎骏大学工程学院已经开发了四种完全不同类型的爬壁机器人。哈尔滨工业大学机器人研究所在国际科学研究助学金的资助下，与哈尔滨工业大学机器人研究所合作，研制出了多种类型的爬壁机器人，并研制出了自力式、自控式的爬壁机器人。研制了一种具有两个吸盘的两足步行机器人，它由鼓风机系统排出的低压空气驱动，将吸盘粘在墙面上。该执行器具有良好的性能，特别是扭矩特性几乎与直流电机相同，适合大多数机器人执行器的特点。在宫崎市大学建造了一种新型的机器人模型，并进行了试验，结果表明，利用这些驱动器可以成功地开发出一种自给能、自控的两足步行爬壁机器人，并且该合作项目能够圆满完成，取得了丰硕的成果。

A robot capable of moving on a vertical wall has been looked forward to for a long time. It could be used for rescue, wall inspection and fire-f igliting in high-rise buildings. Four Quite different types of wall-climbing robots have been developed in Miyazaki University, Faculty of Engineering, over the last 25 years. Harbin Institute of Technology, Robotics Institute has developed many types of the wall-climbing robots for more than 10 years.A self-powered and self-controlled wall-climbing robot has been developed with cooperation of Harbin Institute of Technology, Robotics Institute, under the Grant-in-Aid for International Scientific Research. A biped walking robot with two suction cups has been developed, It was driven by low pressure air exhausted from the blower system to adhare the suction cups to the wall surface. This actuator has a good perfornarice, especially almost the same torque characteristic as DC-moter, and this is suitable characterislic for the most robot actuator. A new robot model with these actuators at alt joints and/or pivots has been constructed and tested in Miyazaki University, It was shown clearly that a self-powered and self-controlled biped walking wall-climbing robot could be developed by using these actuators satisfactorily, and also this cooperation program could be closed with a fruitful result.