一个基于Origami的爬电缆软机器人
Juhyung Kim1, Xiuxian Shi1, Wei Dawid Wang1
1Department of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea.
Soft robotics
|December 30, 2025
概括
这项研究介绍了一种基于原木的软机器人,用于电缆检查和维护. 它的适应性设计可以爬上各种电缆直径,并承载重载,克服当前机器人的局限性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 爬电缆机器人对于无法进入地区的基础设施检查和维护至关重要.
- 现有的机器人面临着尺寸,负载能力和适应不同电缆直径的挑战.
- 需要一种多功能机器人设计,可以克服这些局限性.
研究的目的:
- 开发一个单一的,可适应的基于原木的软机器人,用于电缆爬行机动.
- 为了提高负载能力和克服当前电缆爬爬机器人的局限性.
- 为了证明机器人在各种检查和维护任务中的能力.
主要方法:
- 设计了一个基于原创的软机器人,具有符合规范的身体和生物腿机制.
- 使用可变脚性能来安全地固定电缆,而无需连续执行.
- 测试了机器人的机动,负载能力,以及跨越各种电缆尺寸和障碍物的适应性.
主要成果:
- 机器人重量约为110克,可以在直径从1毫米到几十毫米的电缆上导航.
- 在30毫米直径的垂直电缆上,其负载能力超过其重量的十倍.
- 成功完成任务,包括跨线缆穿越,障碍谈判,物品运输和电缆维修.
结论:
- 开发的基于原木的软机器人为电缆检查和维护提供了多功能和有效的解决方案.
- 它独特的设计解决了现有的电缆爬爬机器人的关键局限性,包括适应性和负载能力.
- 机器人的能力显示出革命性基础设施维护运营的巨大潜力.
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