软体机器人新进展！这款高空缆绳攀爬机器人，仅110克却能扛10倍自重

Core Concept - The article discusses a new climbing robot inspired by biomimicry and origami, designed to inspect and maintain high-voltage cables and other infrastructure safely and efficiently [1][2]. Design Inspiration and Core Concept - The robot's design combines biomimicry and origami, mimicking the "anchoring-crawling" gait of caterpillars for movement [2]. - The actuation mechanism utilizes a Kresling origami pattern, allowing significant axial deformation when driven by air pressure [2][4]. Climbing Robot Design and Working Principle - The robot weighs approximately 110 grams and consists of a body mechanism and two leg mechanisms, featuring two parallel stable origami actuators for smooth movement [5]. - The design allows for different mechanical characteristics by adjusting the geometric parameters of the origami units, enabling stable and energy-efficient operation [4]. Performance Characteristics and Testing Results - The robot can adapt to a wide range of cable diameters, from less than 1 millimeter to 32 millimeters, and can carry loads over ten times its weight, demonstrating a load capacity of 1.2 kilograms on a 30-millimeter diameter cable [16][18]. - It has shown excellent adaptability in various conditions, including dirty, oily, and icy cables, maintaining a crawling speed of 10.8 millimeters per second even on the smoothest surfaces [16]. - The robot's dual-stable self-locking feature enhances safety, allowing it to remain securely attached to cables even in the event of power loss [18]. Future Potential and Applications - The robot currently requires an external air source and control system, limiting its operational range, but future improvements aim to integrate these systems for autonomous climbing [20]. - Plans include adding pressure sensors for automatic grip detection and conducting tests in real outdoor environments to enhance its adaptability and reliability [20].