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系统地讨论了单吸盘真空吸附式爬壁机器人吸盘系的弹性性能，从气体流变过程的角度，推导出气囊式密封垫弹性刚度理论计算公式。最后提供了实验结果，证明了上述方法和结论的正确性。
In this paper, the elastic properties of a single-suction vacuum suction wall-climbing robot sucker system are systematically discussed. The theoretical calculation formula of the elastic stiffness of the air-cushion is deduced from the perspective of the gas rheological process. Finally, the experimental results are provided to prove the correctness of the above methods and conclusions.