爬壁机器人研究现状及发展趋势

Wall climbing robot is an electromechanical system that can move on the surface of objects and complete operations with multiple degrees of freedom. It is especially suitable for performing special tasks, so it has a good application prospect and broad market demand. According to different adhesion mechanisms, wall climbing robots can be divided into negative pressure adsorption, electrostatic adhesion, gecko-like dry adhesion, bionic wet adhesion and so on. The research status of wall climbing robots at home and abroad is summarized from three aspects: adhesion mechanism, application scope and adhesion characteristics. In order to analyze and compare the load performance of different types of wall climbing robots, an analysis method of robot overall adhesion performance based on specific adhesion energy density is proposed, and a new material and structure design idea is proposed to solve the contradiction between large load and small volume. The application prospect of micro wall climbing robot in aero-engine fault detection is analyzed, and its development trends in the fields of intelligent materials, new driving, miniaturization and collaboration of adhesion mechanism are summarized.