真空吸附爬壁机器人系统设计及分析

In order to realize the automatic inspection of the lining defect of the tunnel surface, and make the surface of tunnel lining repair work effectively, researching a kind of robot can crawl in the tunnel surface and do nondestructive testing. According to the characteristics of the variable curvature of the surface of the tunnel, putting forward the overall design scheme of climbing robot, determining its key components, and designing control system structure in the combination of electric and pneumatic, and carrying on the detailed analysis from the safety, the robot structure parameters is determined. The feasibility of the robot system is verified by experiment.