基于Kresling折纸结构的气动爬壁机器人设计与性能分析

楚凯,张宇,王家梁,周浩,舒申,胡俊峰

Design and performance analysis of pneumatic wall-climbing robot based on Kresling origami structure

Kai CHU,Yu ZHANG,Jialiang WANG,Hao ZHOU,Shen SHU,Junfeng HU

图14 机器人转弯过程（驱动气压为-50 kPa）

Fig.14 Turning process of robot (with driving pressure of -50 kPa)