Design, Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces

doi:10.1007/s42235-020-0042-3

	Design, Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces
	Liu, Jinfu 1,2; Xu, Linsen 1,3; Xu, Jiajun 2; Li, Tao 1; Chen, Shouqi 2; Xu, Hong 2; Cheng, Gaoxin 2; Ceccarelli, Marco 4
刊名	JOURNAL OF BIONIC ENGINEERING
	2020-05-01
卷号	17
关键词	wall-climbing robot spine wheel adhesive material adsorption system
ISSN号	1672-6529
DOI	10.1007/s42235-020-0042-3
通讯作者	Xu, Linsen(lsxu@iamt.ac.cn)
英文摘要	Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time, which can improve operation efficiency. However, traditional single-mode robots cannot ensure the stable attachment on complex wall surfaces. Inspired by the structure characteristics of flies and clingfishes, three bionic structures including the flexible spine wheel, the adhesive material and the adsorption system are proposed. Aiming at task requirements on multiple walls and based on the above three bionic structures, a wall-climbing robot with the composed mode of "grabbing+adhesion+adsorption" is presented via the law of mechanism configuration synthesis. Using static analysis, the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or more. Based on Newton's Euler and Lagrange formulas, the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N center dot m at a uniform speed. Finally, the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall, coarse sandpaper wall and acrylic ceiling wall. Meanwhile, experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm center dot s(-1) and 0.8 kg on the vertical lime wall, 7.78 cm center dot s(-1) and 0.6 kg on the coarse sandpaper wall, and 5.93 cm center dot s(-1) and 0.2 kg on the acrylic ceiling wall respectively. These findings could provide practical reference for the robot's application on walls.
资助项目	Science and Technology Major Project of Anhui Province[17030901034] ; Jiangsu Key Research and Development Plan[BE2017067]
WOS关键词	ADHESION ; PERFORMANCE
WOS研究方向	Engineering ; Materials Science ; Robotics
语种	英语
出版者	SPRINGER SINGAPORE PTE LTD
WOS记录号	WOS:000534964300010
资助机构	Science and Technology Major Project of Anhui Province ; Jiangsu Key Research and Development Plan
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/103231]
专题	中国科学院合肥物质科学研究院
通讯作者	Xu, Linsen
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Peoples R China 2.Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei 230026, Peoples R China 3.Anhui Prov Key Lab Biomimet Sensing & Adv Robot T, Hefei 230026, Peoples R China 4.Univ Roma Tor Vergata, Dept Ind Engn, Via Politecn 1, I-00133 Rome, Italy
推荐引用方式 GB/T 7714	Liu, Jinfu,Xu, Linsen,Xu, Jiajun,et al. Design, Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces[J]. JOURNAL OF BIONIC ENGINEERING,2020,17.
APA	Liu, Jinfu.,Xu, Linsen.,Xu, Jiajun.,Li, Tao.,Chen, Shouqi.,...&Ceccarelli, Marco.(2020).Design, Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces.JOURNAL OF BIONIC ENGINEERING,17.
MLA	Liu, Jinfu,et al."Design, Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces".JOURNAL OF BIONIC ENGINEERING 17(2020).