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Proceedings Paper

A wall-climbing robot using gecko-inspired dry adhesives and underactuated modular connecting mechanism
Author(s): Xuan Wu; Rongchuan Wang; Tao Mei; Xiaojie Wang; You Li
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Paper Abstract

This paper proposes the design, fabrication, and testing of a wall-climbing robot (WCR) using gecko-inspired dry adhesives. The robot consists of two tank-like modules, which utilize adhesive timing belts for locomotion and adhesion. A single module is firstly optimized in design to maximize the adhesive force. Then, an under-actuated compliant mechanism is designed to connect two modules. The robot mimics not only the gecko's multiscale adhesive structures but also its multiscale bio-adjustment mechanism. Inspired by the gecko's digital behavior, the robot can performs gripping-in and furling out motions to adjust preloading forces for each module on surfaces sloped from 0 to 180 degrees with respect to the level, via the under-actuated compliant mechanism. The robot's prototype is manufactured using 3Dprinting. Dry adhesives with pillar-patterned surface are fabricated. The adhesives then form a layer and cover the exterior surface of the flexible belts. Testing performances show that the robot can achieve stable scaling on the wall and ceiling with adjustable contact force, as well as the terrain-compatibility for surface transitioning.

Paper Details

Date Published: 27 March 2018
PDF: 11 pages
Proc. SPIE 10593, Bioinspiration, Biomimetics, and Bioreplication VIII, 105930N (27 March 2018); doi: 10.1117/12.2294513
Show Author Affiliations
Xuan Wu, Institute of Advanced Manufacturing Technology (China)
Rongchuan Wang, Institute of Advanced Manufacturing Technology (China)
Tao Mei, Suzhou Rongcui Special Robot Co. Ltd. (China)
Xiaojie Wang, Institute of Advanced Manufacturing Technology (China)
You Li, China Astronauts Research and Training Ctr. (China)

Published in SPIE Proceedings Vol. 10593:
Bioinspiration, Biomimetics, and Bioreplication VIII
Akhlesh Lakhtakia, Editor(s)

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