爬树机器人机械设计与关键技术研究进展OA北大核心

As highly integrated intelligent equipment designed for complex aerial operational environments,tree-climbing robot present a core challenge in achieving efficient and safe operations through the synergistic optimization of mechanical design and key technologies.This paper reviews global research progress in tree-climbing robotics,categorizing existing prototypes into three distinct designs of grasping-climbing type,impact-driven type,and helical propulsion type based on climbing mechanisms.A comparative analysis is conducted from perspectives of mechanical characteristics,motion control strategies,and environmental adaptability to elucidate performance variations among different designs.Focusing on core functionalities,the investigation emphasizes critical technological issues including dynamic adaptability of clamping mechanisms,anti-fall safety systems,and performance optimization of cutting tools,thereby revealing intrinsic correlations between mechanical design and operational efficiency/safety.The research identifies current technological bottlenecks such as excessive energy consumption in grasping-type robots,insufficient load capacity in impact-driven systems,and limited obstacle-crossing capabilities in helical configurations.Future development directions should prioritize advancements in lightweight structural design,intelligent control algorithms,and multifunctional modular integration.These improvements are essential to overcome existing limitations in environmental adaptability and energy efficiency,ultimately promoting widespread applications of tree-climbing robots in forest management,urban infrastructure maintenance,and ecological monitoring.