关键词: 爬楼机器人, 折展机构, 爬楼原理, 仿真

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 mechanism 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 specifications 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.

Key words: climbing robot, folding mechanism, the principle of climbing stairs, emulation