关于气动灵活爬树机器人的结构功能和运动性能的研究.
1Engineering Training Center, Beihua University, Jilin, Jilin, China.
PloS one
|June 11, 2025
概括
一个新的I形气动柔性机器人,带有针,可以提高爬树的适应性. 它在各种树木直径和斜坡上表现出稳定的爬,抓住和承载能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 生物模拟学是一种生物模拟学.
背景情况:
- 传统的机器人在适应不平坦的地形和不同物体尺寸方面面临着挑战.
- 开发适应森林等自然环境的可适应机器人系统对于监控和维护等应用至关重要.
研究的目的:
- 设计和评估一个"I形"气动灵活的爬树机器人,可以更好地适应树的直径和负载变化.
- 为了研究机器人的爬性能,稳定性和负载能力在各种环境条件下.
主要方法:
- 一个"I形"气动柔性机器人的设计,采用自主开发的气动柔性接头和可伸缩的针.
- 建立腰部和腿部关节的静态机械模型,以分析不同压力下的变形特征.
- 使用3D运动捕捉系统进行动力学分析,以评估不同气压,树直径,倾斜角度和负载下的性能.
主要成果:
- 机器人成功地展示了稳定的爬,下降和跨越障碍的功能,负载高达2.0公斤.
- 证实了适应146.4毫米至292.8毫米的树直径.
- 实现的最大登速度为43.8mm/min (水平,没有负载),27mm/min (垂直,向上),63mm/min (垂直,向下).
结论:
- 开发的气动灵活机器人表现出极大的适应性和树任务的稳定性.
- 气动灵活接头和针的集成使得在各种树木大小和斜率上提供强大的性能.
- 这种机器人系统为树木环境中的自动化操作提供了一个有希望的解决方案.
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