一种使用被动双稳态吸盘的高负载爬壁机器人
A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups
- University of Michigan（密歇根大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
本文提出一种利用被动双稳态吸盘的高负载爬壁机器人，无需推力即可粘附，采用履带式系统自动接合吸盘，可在多种表面垂直、侧向及倒置攀爬，并拖拽7.940千克负载，负载重量比2.25。
AI中文摘要：
能够攀爬垂直表面的爬壁机器人有助于自动化执行诸如擦窗、检查、维护和建造等危险或劳动密集型任务。主动粘附方法可实现更高的负载能力，但需要电力来维持抓力。诸如吸盘之类的被动粘附装置对于此类机器人而言是有吸引力的选择，因为它们不需要电力来维持抓力，但其负载能力受到限制。本工作提出了一种新型高负载爬壁机器人，该机器人利用被动双稳态吸盘产生粘附力，而无需被推向墙壁。该机器人采用基于履带的系统，可自动接合和脱离双稳态吸盘，以在光滑表面上实现移动。该机器人能够在玻璃、木材、金属和涂漆表面上实现垂直爬墙、侧向和倒置攀爬，并且能够拖拽7.940千克的负载（负载重量比为2.25）。
英文摘要：
Wall-climbing robots capable of scaling vertical surfaces could help automate hazardous or labor intensive tasks such as window washing, inspection, maintenance, and construction. Active adhesion methods achieve higher payload capacities, but require power to maintain their grip. Passive adhesion devices such as suction cups are an attractive option for such robots because they do not require power to maintain their grip, but they are limited by their payload capacity. This work presents a novel high-payload wall-climbing robot that utilizes passive bistable suction cups to generate adhesion without needing to be pushed into the wall. The robot features a track-based system that automatically engages and disengages bistable suction cups to achieve locomotion on smooth surfaces. The robot is able to achieve vertical wall climbing on glass, wood, metal, and painted surfaces, sideways and upside-down climbing, and is able to tow a payload of 7.940 kg (with a payload-to-weight ratio of 2.25).
