工程设计学报2025，Vol.32Issue(2)：182-190,9.
基于Kresling折纸结构的气动爬壁机器人设计与性能分析
Design and performance analysis of pneumatic wall-climbing robot based on Kresling origami structure
摘要
Abstract
The soft wall-climbing robot with flexible materials as the main body can change its shape through passive deformation or active deformation to adapt to the complex wall environment.However,due to the low stiffness and lag of flexible materials,the existing soft wall-climbing robots generally suffer from insufficient driving force and poor motion stability,which seriously restricts their practical applications.Aiming at this problem,a flexible pneumatic wall-climbing robot based on the Kresling origami structure was designed.This robot composed of anchoring modules and telescopic modules.The anchoring module achieved anchoring on the wall by the adsorption effect of suction cups under negative pressure.The telescopic module adopted a soft continuum structure with Kresling origami structure and plastic film cover as the main body,achieving extension and contraction.The experimental results indicated that the designed robot could achieve stable crawling at a speed of 25-28 mm/s on the smooth wall with a slope of 0°-90°,and had good adaptability to walls of different materials.The results show that the pneumatic wall-climbing robot based on the Kresling origami structure can not only crawl bidirectionally on walls of different slopes and materials,but also flexibly turn on walls based on the flexibility of the telescopic module,which can provide new ideas for the design and optimization of soft wall-climbing robots.关键词
软体爬壁机器人/软连续体结构/Kresling折纸结构/适应性/双向爬行Key words
soft wall-climbing robot/soft continuum structure/Kresling origami structure/adaptability/bidirectional crawling分类
机械工程引用本文复制引用
楚凯,张宇,王家梁,周浩,舒申,胡俊峰..基于Kresling折纸结构的气动爬壁机器人设计与性能分析[J].工程设计学报,2025,32(2):182-190,9.基金项目
国家自然科学基金资助项目(52165011) （52165011）
江西省自然科学基金资助项目(20212BAB204028) （20212BAB204028）
江西省自然科学基金重点项目(联合资助)(20202ACBL204009) （联合资助）
江西省研究生创新专项资金项目(YC2023-S652) （YC2023-S652）
