不规则垂直结构攀爬机器人研究综述OA

Climbing robots constitute a unique category of robotic systems specifically designed for efficient locomotion on vertical or inclined surfaces.These robots significantly enhance operational safety in hazardous environments by reducing risks to human workers,while simultaneously improving task efficiency and cost-effectiveness.To accomplish climbing tasks in real-world applications,climbing robots must adapt to a wide variety of irregular vertical structures,posing substantial challenges to their design and implementation.This paper reviews the key technologies underlying climbing robots,with a particular focus on adhesion mechanisms and locomotion methods.The advantages and limitations of different adhesion and movement strategies are systematically analyzed and compared.Furthermore,the study provides a comprehensive overview of recent research on climbing robots designed for irregular vertical structures,including steel bridges,transmission towers,and wind turbine blades.By summarizing current developments and technological challenges,this review offers valuable insights into the design,optimization,and future development of climbing robots for complex vertical environments.