The invention discloses a bionic wall-climbing
robot suitable for a complicated narrow and small space in a space
station microgravity environment. Technical problems to be solved are that the
gait and
trajectory planning of a traditional
robot are restricted and it is hard for the traditional
robot to pass through multiple complicated narrow and small spaces because the multiple complicated narrow and small spaces are available in the space
station microgravity environment and the
working space of the traditional robot is limited due to a mechanical structure in the background technology. According to the technical scheme, the bionic wall-climbing robot suitable for the complicated narrow and small space in the space
station microgravity environment comprises a robot body, four multi-posefast conversion bionic single leg modules and four active adhesion and
desorption paw mechanisms; and bionic
toe adhesion units are arranged at the
tail ends of the four active adhesion and
desorption paw mechanisms. The bionic wall-climbing robot suitable for the complicated narrow and small space in the space station microgravity environment has the advantages that a multi-
pose and
gait conversion mechanism is realized by using a differential
gear transmission mechanism; by combining a
thigh rotation joint and a leg lifting joint, the flexibility of the leg motion of the robot is improved;by using the active adhesion and
desorption paw mechanisms, rapid desorption and
gait conversion are realized so that the bionic wall-climbing robot adapts to multiple special poses and motion gaits;and a passing and moving ability in the complicated narrow and small space is realized.