重庆邮电大学学报（自然科学版）2026，Vol.38Issue(3)：477-485,9.DOI:10.3979/j.issn.1673-825X.202505210126
不规则垂直结构攀爬机器人研究综述
Review of research on climbing robots for irregular vertical structures
摘要
Abstract
Climbing robots constitute a unique category of robotic systems specifically designed for efficient locomotion on vertical or inclined surfaces.These robots significantly enhance operational safety in hazardous environments by reducing risks to human workers,while simultaneously improving task efficiency and cost-effectiveness.To accomplish climbing tasks in real-world applications,climbing robots must adapt to a wide variety of irregular vertical structures,posing substantial challenges to their design and implementation.This paper reviews the key technologies underlying climbing robots,with a particular focus on adhesion mechanisms and locomotion methods.The advantages and limitations of different adhesion and movement strategies are systematically analyzed and compared.Furthermore,the study provides a comprehensive overview of recent research on climbing robots designed for irregular vertical structures,including steel bridges,transmission towers,and wind turbine blades.By summarizing current developments and technological challenges,this review offers valuable insights into the design,optimization,and future development of climbing robots for complex vertical environments.关键词
攀爬机器人/附着方式/运动方式/不规则垂直结构Key words
climbing robots/adhesion mechanism/locomotion method/irregular vertical structures分类
信息技术与安全科学引用本文复制引用
魏博,丁涛,孔新瑀,李艳生,汪从哲,张毅..不规则垂直结构攀爬机器人研究综述[J].重庆邮电大学学报（自然科学版）,2026,38(3):477-485,9.基金项目
国家自然科学基金项目(61703067,52575102) （61703067,52575102）
重庆市教育委员会科学技术研究项目(KJZD-K202400607) （KJZD-K202400607）
重庆市技术创新与应用发展专项重点项目(cstc2021jscx-gksbX0055) National Natural Science Foundation of China(61703067,52575102) （cstc2021jscx-gksbX0055）
Science and Technology Research Program of Chongqing Municipal Education Commission(KJZD-K202400607) （KJZD-K202400607）
Special Projects for Technological Innovation and Application Development in Chongqing Municipality(cstc2021jscx-gksbX0055) （cstc2021jscx-gksbX0055）
