推力吸附爬壁机器人的优化设计与试验

薛朝军,王海波,陈俞鹏

Optimal design and experimental study of thrust adsorption wall-climbing robot

Chao-jun XUE,Hai-bo WANG,Yu-peng CHEN

表 2 推力吸附机构的安装角与 γ的关系

Tab.2 Relationship between installation angle and γ of thrust adsorption mechanism

θ u/(°) θ d/(°) γ u γ d γ s 6 5 111.12 23.55 27.64 7 6 42.11 22.13 20.80 8 7 39.37 20.37 19.19 9 8 36.09 19.59 18.16 10 9 34.08 19.01 17.43 11 10 32.32 18.74 16.92 12 11 31.27 18.61 16.64 13 12 30.37 18.65 16.48 14 13 29.87 18.84 16.47 15 14 29.50 19.40 16.69 16 15 29.70 19.28 16.66