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中国科技论文在线

攀爬机器人研究现状及展望#
倪柯楠1，杜小强1,2，陆丽江1，张宁1，武传宇1,2**
（1. 浙江理工大学机械与自动控制学院，杭州 310018；
5 2. 浙江省种植装备技术重点实验室，杭州 310018）
摘要：近年来随着在树木修剪、高楼清洗等高空领域的作业任务不断增加，攀爬机器人的应
用前景得到广泛关注，各国学者都对此进行了相关研究提出方案并研制样机。本文首先综述
了国内外攀爬机器人的研究现状，分类介绍了几种有代表性的攀爬机器人的研究成果，总结
10 了其中存在的主要问题。在此基础上提出将攀爬机器人应用于果园机械化采摘领域的构想，
并进行了分析探讨。
关键词：攀爬机器人；攀爬机构；夹持机构；果园机械化采摘
中图分类号：TH122
Research Status and Prospects of Climbing Robot
15 NI Kenan1, DU Xiaoqiang1,2, LU Lijiang1, ZHANG Ning1, WU Chuanyu1,2
(1. College of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou
310018;
2. Zhejiang Province Key Laboratory of Transplanting Equipment and Technology, Hangzhou
310018)
20 Abstract: In recent years, the prospects of climbing robot were paid close attention due to the
increasing tasks of aloft work, such as tree pruning, tall buildings cleaning. Some programs, even
prototypes have been developed with related studies. Research status of climbing robot at home
and abroad were reviewed at first in this paper, research achievements of several representative
climbing robot were classificatory introduced, and the main problems in this field were
25 summarized. Finally, an idea of applying climbing robot to the field of orchard mechanization
harvesting was put forward creatively on these bases and the feasibility of this idea was analyzed
and discussed.
Key words: climbing robot; climbing mechanism; gripper mechanism; orchard mechanization
harvesting
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0 引言
随着现代社会的发展，人们在高空进行作业的情况也越来越多，如果实采摘、路灯更换、
管道检修、军事侦察等。在高空作业时，工作人员的劳动强度大、危险程度高，其人身安全
难以得到可靠的保证，同时劳动效率也