Review of key technologies of climbing robots

作     者：Ye DAI Shikun LI Xukun RUI Chaofang XIANG Xinlei NIE Ye DAI;Shikun LI;Xukun RUI;Chaofang XIANG;Xinlei NIE

作者机构：Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of EducationHarbin University of Science and TechnologyHarbin 150080China 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2023年第18卷第4期

页      面：79-96页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the National Natural Science Foundation of China(Grant No.52075134) 

主　　题：climbing robot mechanical structure design control system kinematics planning path planning 

摘      要：In recent years,the robot industry has developed rapidly,and researchers and enterprises have begun to pay more attention to this *** are barely familiar with climbing robots,a kind of special ***,from their practical value and scientific research value,climbing robots should studied *** paper analyzes and summarizes the key technologies of climbing robots,introduces various kinds of climbing robots,and examines their advantages and disadvantages to provide a reference for future *** countries have studied climbing robots and made some ***,due to the complexity of climbing robots,their climbing efficiency and accuracy need to be further *** new structure can improve the climbing *** paper analyzes climbing robots such as mechanical arms,magnetic attraction,and *** methods and path planning can improve the accuracy of *** paper involves some control methods,including complex intelligent control methods such as behavior-based robot *** paper also investigates various kinematic planning methods and expounds and summarizes various path planning algorithms,including machine learning and reinforcement learning of artificial intelligence,ant colony algorithm,and other ***,by analyzing the research status of climbing robots at home and abroad,this paper summarizes three important aspects of climbing robots,namely,structural design,control methods,and climbing strategies,elaborates on the achievements and existing problems of these key technologies,and looks forward to the future development trend and research direction of climbing robots.