摘要传统意义上的机器人通常只在二维平面上运动，三维空间内的运动能力匮乏，飞行吸附两栖机器人的提出，很好地解决了这一问题。同时它的提出也弥补了飞行机器人长时间在线工作的时候能量上的不足，在公共安全、抢险救援、军事侦察等领域，具有很好的应用前景。飞行吸附两栖机器人主要包括吸附装置，四旋翼飞行装置，远程遥控器以及附加的功能模块。作为飞行吸附两栖机器人的关键组成部分，其吸附装置的研究显得非常必要。64924

本文主要分析了飞行两栖机器人栖息时的受力情况，通过分析静电吸附和负压吸附的原理,研究这两种吸附原理的特点，并进行这两种吸附装置的结构设计的研究，主要包括具有缓冲支撑结构的负压吸附装置,推导真空泵中的气压与时间的关系和不同形状，不同间距，不同壁面材质下静电吸附的实验比较，实验结果验证了静电吸附装置在飞行吸附两栖机器人上应用的可行性。

毕业论文关键词   飞行吸附 负压吸附 静电吸附

毕业设计说明书（论文）外文摘要

Title  Study on adsorption device of the flying and adhesive robot                                     

Abstract Traditional sense of the robot is usually only a two-dimensional plane of movement,lack of the capacity to move in three-dimensional space , flight adsorption amphibious robot made a good solution to this problem. At the same time it is also proposed to make up the flying robot the lack of energy when working online for a long time , in public safety, rescue, military reconnaissance and other fields, has good application prospects. Adsorption amphibious flying robots include adsorption unit, four-rotor flying device, Remote Control and additional functional modules. Adsorption amphibious flying robots as a key component of its adsorption device research is very necessary.

This article analyzes the principle of the vacuum adsorption and  electrostatic adsorption,characteristics and the advantages and disadvantages of these two adsorption device for the structure design of the study, including the support structure having a buffer and a vacuum adsorption unit,the air pressure in the vacuum pump is derived in relation to time, different shapes,different spacing, different wall materials of the electrostatic adsorption experiments, the experimental results demonstrate the electrostatic adsorption device of flying and adhesive robot applications feasible.

Keywords  flight adsorption  vacuum adsorption  electrostatic adsorption

目   次 

1 绪论 1

1.1 概述 1

1.2 研究背景以及国内外研究现状 1

1.2.1 飞行吸附两栖机器人简介 1

1.2.2 吸附方式分类及其优缺点 1

1.2.3 国内外研究现状 2

1.3 研究目的与意义 6

1.4 发展趋势 6

2 吸附装置的受力分析与优化设计 6

2.1 四旋翼飞行吸附两栖机器人简介 6

2.2 吸附装置受力分析 7

2.3 实验测试 9

3 静电吸附装置的开发 10

3.1 静电吸附原理 10

3.2 静电吸附基本结构