现代制造工程Issue(1)：59-65,7.DOI:10.16731/j.cnki.1671-3133.2026.01.007
折展式爬楼机器人爬楼机构的设计与分析
Design and analysis of the climbing mechanism of the folding climbing robot
摘要
Abstract
Most of the climbing mechanisms of the existing climbing robots are wheeled,legged,crawler and their compounds,and these mechanisms have their own advantages and disadvantages.Therefore,it is expected to design a new type of climbing mecha-nism with simple structure,simple control and small size.The folding mechanism with the advantages of compact structure,small size and large working space was used as a new type of climbing mechanism.Taking the school staircase with building specifica-tions as the working scene of the folding climbing mechanism,and taking 0.2 kg as the maximum additional load requirement,the overall structure design and climbing principle of the folding climbing mechanism were analyzed,and the folding mechanism was theoretically feasible through the calculation of climbing passability and balance angle.The theoretical feasibility of the climbing mechanism was verified by ADAMS software,and finally the practical feasibility of the folding climbing mechanism was verified by prototype experiments.关键词
爬楼机器人/折展机构/爬楼原理/仿真Key words
climbing robot/folding mechanism/the principle of climbing stairs/emulation分类
机械制造引用本文复制引用
魏晓华,韩晓亮,韩峰,何明忠..折展式爬楼机器人爬楼机构的设计与分析[J].现代制造工程,2026,(1):59-65,7.基金项目
辽宁省教育厅工程实践能力导向产教融合专业学位研究生人才培养机制研究项目(LNYJG2023114) （LNYJG2023114）
