新型双足攀爬机器人夹持器模块的改型设计

文章详细设计和分析了一种应用于新型双足攀爬机器人Climbot的夹持器及其改型设计成果。由于原有夹持器存在诸多缺陷,例如结构复杂、可靠性低、加工工序复杂、制造成本高昂等。同时夹持器所属攀爬机器人的远景目标则是大规模推广应用,因此,设计制造一种结构简单、稳定可靠且成本低廉的夹持器成为当下的一个重要任务。针对这个现实需求,我们对原有夹持器进行了多次试验和深入分析,找出其中的不足,并对存在的问题提出多种解决方案。我们设计出一款新式夹持器,该夹持器结构简单,加工方便,而且部分关键零部件实现了标准化,成本得到了进一步降低。同时,在减轻夹持器重量的同时,通过结构的优化和材料选择,保证了夹持器应有的结构强度和刚度,满足设计要求。

New feet climbing robot gripper module retrofit design

This paper details the design and analysis of the outcome of the holder and its modification design of an application to new biped climbing robot Climbot. Original holder there are many defects, such as complex structure, low reliability, complex machining processes, high manufacturing costs. Holder an climbing robot vision is a large-scale popu- larization and application, design and manufacture of a simple, reliable and low cost holder is an important task of the moment. This reality needs, we carried out several tests and in~tepth analysis to identify the lack of them, and the prob- lems existing in a variety of solutions to the original holder. We designed a new holder, the holder is simple in structure, easy to process, and some of the key components to achieve standardization, cost has been further reduced. The same time, at the same time reduce the weight of the gripper, through the optimization of the structure and material selection to en- sure the structural strength and stiflhess of the ~ripper should meet the design requirements.