【摘要】 现有爬楼机器人的爬楼机构多数为轮式、腿式、履带式以及复合式，这些机构各有优缺点；因此，期望设计一种结构简洁、控制简单和体积小的新型爬楼机构。将具有结构紧凑、尺寸小巧和工作空间大等优点的折展机构作为新型爬楼机构。以具有建筑规范的学校楼梯作为折展式爬楼机构的工作场景，以0.2 kg作为最大额外载重需求，对折展式爬楼机构整体进行结构设计与爬楼原理分析后，根据爬越通过性与平衡角度的计算，使折展机构具有理论可行性。以ADAMS软件验证爬楼机构的理论可行性，最后通过样机实验验证了折展式爬楼机构的实际可行性。更多还原

【Abstract】 Most of the climbing mechanisms of the existing climbing robots are wheeled, legged, crawler and their compounds, and these mechanisms have their own advantages and disadvantages. Therefore, it is expected to design a new type of climbing mechanism with simple structure, simple control and small size. The folding mechanism with the advantages of compact structure, small size and large working space was used as a new type of climbing mechanism. Taking the school staircase with building specifications as the working scene of the folding climbing mechanism, and taking 0.2 kg as the maximum additional load requirement, the overall structure design and climbing principle of the folding climbing mechanism were analyzed, and the folding mechanism was theoretically feasible through the calculation of climbing passability and balance angle. The theoretical feasibility of the climbing mechanism was verified by ADAMS software, and finally the practical feasibility of the folding climbing mechanism was verified by prototype experiments.更多还原