Insect-Inspired Wall-Climbing Robots Utilizing Surface Tension Forces
Insect-Inspired Wall-Climbing Robots Utilizing Surface Tension Forces
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DOI：
10.1299/jamdsm.4.383
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发表时间：
2010
影响因子：
0.9
通讯作者：
Kenji Suzuki;Shusuke Nemoto;Takahiro Fukuda;H. Takanobu;H. Miura
中科院分区：
文献类型：
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作者：
Kenji Suzuki;Shusuke Nemoto;Takahiro Fukuda;H. Takanobu;H. Miura
本文描述了一种利用表面张力在光滑的垂直表面上行走的仿昆虫爬壁机器人。机器人的粘附机制灵感来自蚂蚁的附着系统，它负责在粘附器官和表面之间形成一层分泌液体的薄膜。采用MEMS技术制备了PDMS和玻璃两种胶粘片，并测量了胶粘片的粘接性能。在此基础上，研制了一种六足机器人，并在其足部安装了粘接垫。该机器人重9.5克，以交替的三脚架步态行走。它成功地在垂直和倒置的玻璃表面行走。
This paper describes insect-inspired wall-climbing robot that is capable of walking on a smooth vertical surface utilizing surface tension forces. The adhesion mechanism of the robot is inspired from the attachment system of ants, which is responsible for a thin film of secreted liquid between the adhesive organs and the surface. Two kinds of adhesive pads made of PDMS and glass were fabricated using MEMS techniques and adhesive properties were measured. Furthermore, a hexapod robot with the adhesive pads installed on its feet was developed. The robot weighs 9.5g and walks in the alternating tripod gait. It successfully walked on vertical and inverted glass surfaces.