【摘要】 针对大坝、桥梁、大型水下管线等水下结构环境复杂、检测难度大等问题，提出了一种具有一定避障及壁面过渡能力且可适应复杂壁面的水下结构检测爬行机器人。首先对机器人整体结构进行设计，通过采用轮足式结合的轮足结构和具有旋转自由度的吸附结构的相互配合的设计，提高了机器人对复杂壁面的自适应能力；其次以圆形截面桥墩为例，利用流场仿真分析了机器人吸附在壁面时，桥墩附近流域的流速和压力分布情况；再者对机器人的运动状态及稳定性进行分析，通过建立摩擦力和抗倾覆力矩计算公式得到机器人的正常工作条件；最后对机器人结构摩擦性能和样机进行测试和试验验证。结果表明，该机器人在一定程度上具有对复杂环境的抗性和复杂表面的适应性，可用于水下结构的检测工作。更多还原

【Abstract】 Aiming at the complex environment and difficult detection of underwater structures such as dams, bridges and large underwater pipelines, a crawling robot for underwater structure detection is proposed, which has certain obstacle avoidance and wall transition ability and can adapt to complex walls. Firstly, the whole robot is designed, and the adaptability of the robot to complex walls is improved by the cooperation of the wheel-foot structure with wheel-foot combination and the adsorption structure with rotational freedom. Secondly, taking a circular section pier as an example, the flow field simulation is used to analyze the velocity and pressure distribution in the basin near the pier when the robot is adsorbed on the wall. Furthermore, the motion state and stability of the robot are analyzed, and the normal working conditions of the robot are obtained by establishing the calculation formulas of friction force and overturning moment. Finally, the friction performance of the robot structure and the prototype are tested and verified by experiments. The results show that the robot has resistance to complex environment and adaptability to complex surfaces to a certain extent, and it can be used for underwater structure detection.更多还原