爬壁机器人发展趋势-外文文献.docx

The development trend of the Climbing robot1. Preface:Climbing robot is an important branch in the field of mobile robot, flexible mobile on vertical wall, replace artificial under the condition of the limit to complete various tasks, is one of the hotspot in research of the robot. It is mainly used in the nuclear industry, petrochemical industry, shipbuilding, fire departments and investigation activities, such as the building external wall cleaning, material storage tank in petrochemical enterprise testing and maintenance, the outer wall of large steel plate spray paint, and in building accident rescue and relief, etc., and achieved good social benefits and economic benefits, has wide development prospects.After 30 years of development, the field of robot which has emerged a large number of fruitful results, especially since the 1990 s, especially rapid development in the field of climbing robot at home and abroad. In recent years, due to the development of a variety of new technology, the robot which solved many technical challenges, greatly promote the development of the climbing robot. The robot design activities of universities in our country also has a wide development, this kind of atmosphere for our robot research and development of special and professional talents' cultivation is of positive significance.2. Climbing robot research status abroad1966 Japanese professor west light wall mobile robot prototype is developed for the first time, and performance success in Osaka prefecture university. This is a kind of rely on negative pressure adsorption climbing robot. Then appeared various types of climbing robot, has already begun to the late 80 s application in the production. Japan's most rapid development in the development of climbing robot, mainly used in the construction industry and nuclear industry. Such as: Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot, they developed by negative pressure adsorption cleaning climbing robot, on the surface of the glass for the Canadian embassy to clean. Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot. In Japan's miti "limit homework robot" national research projects, supported by day CDH, developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants, etc.Other countries are also added to the climbing robot research upsurge, such as: Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler "AutoCrawler" robot. On the two tracks each containing a number of small adsorption chamber, with the moving of the crawler, adsorption chamber form continuous vacuum cavity and makes the crawler walking against the wall. American CaseWestern Reserve University developed by using four climbing robot prototype "legs". Similar to the first two robots, the robot depends on four "legs" on biomimetic viscous materials to adsorption, the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall. The quality of the robot is only 87 g. Polytechnic school in the early 1990 s, British Portsmouth has developed a climbing robot multilegged walking type. Adopting modular design, the robot is composed of two similar modules, each module includes two mechanical legs and leg controller. According to the task need to install a different number of legs, reconfigurable ability. Mechanical legs using bionics mechanism, simulation of the large animals arm muscle function, is two type, including upper and lower two and three double-acting cylinder, with three degrees of freedom. Good stability and bearing capacity is big, the robot's lightweight, and can span bigger obstacles. In addition to the leg on one end of vacuum cups, robot equipped with suction cups, abdomen mass ratio of powder and make the robot has a larger load of 2:1.3. Climbing robot research status in ChinaChina is also in a similar study since the 1990 s. In 1988 at the national "863" high technology program, under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption two series of five types of wall climbing robot. Successful development of the our country the first wall climbing robot remote detection, using negative pressure adsorption, omni-directional mobile wheel, used for nuclear waste storage jars of wall weld defect detection. Developed in 1994 for tall buildings wall climbing robot cleaning CLR - Ⅰ, adopts the omni-directional mobile mechanism, the robot in situ can arbitrarily change the direction of movement. After the development of the CLR - Ⅱ, driven by two independent ways -- coaxial two-wheeled differential mechanism, through the coordination of two rounds of speed control to realiz。