1、毕业设计（论文） I 摘 要 钩爪式爬壁机器人是一种能够在垂直壁面上进行高空作业的移动式服务机 器人。它属于极限作业机器人的一种，可以将人从危险的工作中解脱出来，是当 前机器人领域研究的热点之一。 本文通过对国内外各种类型爬壁机器人现状进行 了系统的分析与比较，论述了钩爪式爬壁机器人的运动方式、吸附方式、控制系 统等。首先介绍了国内外爬壁机器人研究现状，阐明本课题研究的目的、意义。 然后进一步介绍了本爬壁机器人总体结构， 同样也要求设计出合理高效的爬行装 置，并在此基础上着重阐述了爬壁机器人控制系统主要问题及其解决方法，机器 人的控制系统必须具有操作简单、安全、可靠、高效、方便等特点。 关键词
2、: 爬壁机器人；钩爪；移动；粗糙壁面；发展趋势 毕业设计（论文） II Abstract The wall climbing robot of hook claw is a climbing robot can worked at height on the vertical wall of mobile service robots. It belongs to a robot of limit, Will work from the dangerous freed, currently, it is one of the hotspots where the field of roboti
3、cs research. Based on the current situation at home and abroad to conduct various types of wall-climbing robot system for analysis and comparison, discusses the wall climbing robot of hook claws mode, adsorption and control systems. Firstly, it is introduce that Research to the climbing robot at hom
4、e and abroad, clarify the purpose of the research, significance. And then further describes the overall structure of the wall-climbing robot, meanwhile it is also asked to design reasonable and efficient of crawling device, and in this basis, it is focused on the main problems and solutions for climbing robot control system, the robots control system must be simple, safe, reliable, efficient, and convenient. Keywords: wall-climbing robot; hook claw; rough wall; Development 毕业设计（论文） III 目 录 摘
