可自适应不同直径柱体的模块化爬行机器人，支持自主抓取与自锁。
Advances in Hybrid Modular Climbing Robots: Design Principles and Refinement Strategies
- 模块化肌腱驱动臂通过增减连接件适配不同柱径。
- 实测验证自锁与垂直攀爬能力，模型预测与实际一致。
- 适合工业巡检等需自动攀爬高结构的场景。
本文研究混合式杆状或树干攀爬机器人的设计策略，重点在于指导设计决策并评估适应性与性能指标。开发了一种轮驱-抓取复合机器人，配备安装在转台上的轮式驱动系统和模块化肌腱驱动抓取臂，可攀爬不同直径的立柱。核心创新在于欠驱动抓取臂可通过增减模块化连杆调整以适应不同柱径，同时具备自锁（依靠摩擦力在无动力时保持位置）、自主抓取及绕柱旋转能力。数学模型描述了自锁与垂直攀爬条件。实验结果验证了机器人在攀爬与自锁方面的有效性，证实了模型准确性，并凸显其在工业自动化应用中的潜力。本工作为混合攀爬机器人的评估与设计提供了完整框架，推动了在需攀爬高大结构环境中自主机器人技术的发展。
原文摘要 · Abstract (English)
This paper explores the design strategies for hybrid pole- or trunk-climbing robots, focusing on methods to inform design decisions and assess metrics such as adaptability and performance. A wheeled-grasping hybrid robot with modular, tendon-driven grasping arms and a wheeled drive system mounted on a turret was developed to climb columns of varying diameters. Here, the key innovation is the underactuated arms that can be adjusted to different column sizes by adding or removing modular linkages, though the robot also features capabilities like self-locking (the ability of the robot to stay on the column by friction without power), autonomous grasping, and rotation around the column axis. Mathematical models describe conditions for self-locking and vertical climbing. Experimental results demonstrate the robot's efficacy in climbing and self-locking, validating the proposed models and highlighting the potential for fully automated solutions in industrial applications. This work provides a comprehensive framework for evaluating and designing hybrid climbing robots, contributing to advancements in autonomous robotics for environments where climbing tall structures is critical.
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