DEVELOPMENT OF WALL-CLIMBING ROBOT

爬墙机器人的研制

• 批准号: 08045041
• 负责人: NISHI Akira
• 金额: $ 2.69万
• 依托单位: MIYAZAKI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for international Scientific Research
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08045041/
• 关键词: Wall-Climbing Robot; Biped Walking; Air-Turbine Actuator; Self-Powered Robot; Self-Controlled Robot; 凹凸壁面; 壁面移動ロボット; 二足歩行; エアータービン・アクチュエータ; 自立型ロボット; 自律型ロボット; 壁面移動; ロボット; 高層ビル; ビル火災; 移動機構

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.

一种能够在垂直墙壁上移动的机器人已经被期待很久了。它可用于高层建筑的救援、墙体检查和消防。在过去的25年里，宫崎大学工程学院开发了四种完全不同类型的爬墙机器人。哈尔滨工业大学机器人研究所十多年来研制了多种类型的爬壁机器人。在国际科学研究资助项目下，与哈尔滨工业大学机器人研究所合作开发了一种自供电、自控制的爬墙机器人。研制了一种双足行走机器人，利用鼓风机系统排出的低压空气驱动双足行走机器人的吸盘附着在壁面上。该驱动器具有良好的性能，特别是与直流电机几乎相同的扭矩特性，这是适用于大多数机器人驱动器的特性。在宫崎大学建立了一个新的机器人模型，并在所有关节和/或枢轴处安装了这些驱动器，并进行了测试，结果表明，使用这些驱动器可以令人满意地开发出自供电、自控制的两足步行爬壁机器人，并且该合作项目可以取得丰硕的成果。

项目成果

Y.ZHANG: "An air-powered biped wall-Climbing robot" Proc. 1st Int. Symp. on Mobile, Climbing and walking Robot. 291-296 (1998)

Y.ZHANG：“一种气动双足爬墙机器人”Proc.

A. Nishi: "Development of Wall-Climbing Robot" Computers and Electrical Engineering. 22・2. 123-149 (1996)

A. Nishi：“爬墙机器人的开发”计算机和电气工程 123-149（1996）。

A.Nishi, H.Miyagi: "A flight -type wall climbing robot" Proc.1st Int.Symp.on Mobile, Climbing and Walking Robots(CLAWAR'98). 35-39 (1998)

A.Nishi、H.Miyagi：“飞行型爬墙机器人”Proc.1st Int.Symp.on Mobile、Climbing and Walking Robots(CLAWAR98)。

A.NISHI: "Maneuvering of a flight-type wall-climbing robot" Proc. 3rd World Automation congress, WAC'98. 301-306 (1998)

A.NISHI：“飞行型爬墙机器人的操纵”Proc。

A.Nishi, H.Miyagi: "Maneuvering of a flight-type wall-climbing robot" Proc.World Automation Congress(WAC'98). 301-306 (1998)

A.Nishi、H.Miyagi：“飞行型爬墙机器人的操纵”Proc.世界自动化大会（WAC98）。