海洋机器人爬壁平台研究进展

Ship wall climbing robots differ from land robots in that the former have both moving and adsorption functions,and can complete wall climbing motion on the inclined ship wall and complete the corresponding tasks by equipping high-pressure water guns,welding guns,image recognition and other devices required for rust removal,cleaning and welding.This paper introduces wall climbing robots and their wall climbing platforms designed and manufactured in recent years.Wall climbing platform design methods are classified into magnetic adsorption,negative pressure adsorption,and bionic type according to their adsorption principles and motion characteristics.The paper briefly introduces the mechanical structure design,motion performance,and application scope of various types of wall climbing platforms,in hope of providing inspirations for future design and manufacturing of marine robots and technology development.