【摘要】 本文提出了一种轮、履带复合式磁吸附壁面移动机构，介绍了结构方案和磁性支重轮的设计方法，并分析了该机构的稳定性和被动柔顺功能．该机构既可作为铁磁性壁面上爬行的运载工具，又能运用到封闭管内行走机器人的行走装置上．更多还原

【Abstract】 This paper presents a wheel caterpillar band combination wall travelling mechanism with mag-netic adsorption. The paper describes the structure scheme and the design method of supporting wheel witbmagnetism, and analyzes the stability of mechanism and the function of compliance.This mechanism can be used for the crawling carrier on the ferromagnetic wall and for the robot runninggear in closed pipe.更多还原