【摘要】 本研究提出了一种适合作为多足爬壁机器人腿的足－掌机构．采用这种足－掌机构的爬壁机器人不仅能够顺利实现地－壁过渡行走，而且有可能适应其他形状的非平壁面（如球面、柱面）．足－掌机构以平面正缩放机构为基础，附加两套四连杆机构实现对掌姿态的主动控制．文中分别讨论了其机构原理、样机的驱动和传动方案、传感和控制系统结构方案等更多还原

【Abstract】 In the paper, a leg sole mechanism suitable for multi legged wall climbing robot is proposed. Using this kind of leg mechanism, the robot not only can climb from ground to wall easily, but has the possibility of adapting to such non plane surfaces as spherical or cylindrical ones. The leg sole mechanism is one based on a plane pantograph attached with two sets of four bar linkages in order for the robot to control the attitude of the sole. The paper gives discussion of mechanical configuration,drive/transmission schemes and structure of the leg sole mechanism.更多还原