用微振动实现无接触强吸附，助力微型爬墙机器人高速负重行走
Design and Characterization of a Micro-Vibration Adhesion System
- 通过近表面振动柔性盘产生非接触吸附力
- 实测吸附力是自重的51倍以上，剪切力极小
- 适合微型爬墙机器人高速运动与重载场景
近年来，微型爬墙机器人因其在设备检测和原位维修中的巨大潜力而受到广泛关注。传统吸附方式多依赖电磁、静电、真空吸力或范德华力，但在追求紧凑设计与高速移动时存在局限。本文提出一种基于振动的吸附（Vibration-Based Adhesion, VBA）新方法，利用靠近表面振动的柔性盘产生强而可控的非接触吸引力。采用电动机作为振动源构建的VBA系统经实验验证，吸附力与自重比超过51倍。实验结果表明，该吸附机制不仅能提供高法向力，且剪切力极低，特别适用于微型爬墙机器人的高速运动与重载应用。
原文摘要 · Abstract (English)
In recent years, miniature wall-climbing robots have attracted widespread attention due to their significant potential in equipment inspection and in-situ repair applications. Traditional wall-climbing systems typically rely on electromagnetic, electrostatic, vacuum suction, or van der Waals forces for controllable adhesion. However, these conventional methods impose limitations when striving for both a compact design and high-speed mobility. This paper proposes a novel Vibration-Based Adhesion (VBA) technique, which utilizes a flexible disk vibrating near a surface to generate a strong and controllable attractive force without direct contact. By employing an electric motor as the vibration source, the constructed VBA system was experimentally evaluated, achieving an adhesion-to-weight ratio exceeding 51 times. The experimental results demonstrate that this adhesion mechanism not only provides a high normal force but also maintains minimal shear force, making it particularly suitable for high-speed movement and heavy load applications in miniature wall-climbing robots.
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