Adhesion recovery and passive peeling in a wall climbing robot using adhesives
Adhesion recovery and passive peeling in a wall climbing robot using adhesives
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使用粘合剂的爬墙机器人中的粘合恢复和被动剥离
DOI：
10.1109/robot.2010.5509142
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
M. Sitti
中科院分区：
文献类型：
--
作者：
C. Kute;Michael P. Murphy;Y. Mengüç;M. Sitti
本文介绍了一个小型和敏捷的爬壁机器人的能力，以恢复失去的粘附力，由于干燥的纤维状粘合剂的降解分析和结果。为了恢复失去的附着力，将两只脚设置在表面上，机器人在附着力下降到安全阈值以下的一侧进行摇摆运动。摇摆运动施加法向力以预加载前足和后足，而不通过交替马达的方向而使另一足从表面分离，并且仅允许腿的小旋转。实验结果表明，摇摆运动是成功地恢复失去的粘附力，而使用干纤维粘合剂在光滑，垂直丙烯酸表面。随着时间的推移，纤维的性能限制了可能机械恢复的粘附力，因此纤维被过度设计，这引起了对功率高效剥离机构的需求。剥离机构使用有条件地锁定的踝部，该踝部利用磁体和狭槽来实现，以允许轴将垂直于表面的拉力改变为垂直于表面的拉力，这使用不均匀的负载来剥离纤维。实验结果表明，被动剥离机制是成功的，在减少所需的功率剥离。所提出的进步可以应用于其他使用粘合剂的攀爬机器人，以实现更安全，更有效的攀爬。
This paper presents analysis and results for a small and agile wall climbing robot's ability to regain lost adhesion due to degradation of dry fibrillar adhesives. To regain the lost adhesion, two feet are set to the surface and the robot performs a rocking motion on the side where the adhesion has dropped below a safety threshold. The rocking motion applies normal forces to preload the front and rear feet without letting the other foot detach from the surface by alternating the direction of the motor and only allowing small rotation of the leg. Experimental results show that the rocking motion is successful in regaining lost adhesion while using dry fibrillar adhesives on a smooth, vertical acrylic surface. The performance of the fibers over time limits the adhesion that can possibly be mechanically regained and as a result the fibers are over-designed, which gives rise to the need for a power efficient peeling mechanism. The peeling mechanism uses a conditionally locked ankle, implemented with magnets, and a slot to allow the axle to change a pulling force normal to the surface to be a pulling force perpendicular to the surface, which peels the fibers using the uneven loading. Experimental results illustrate that a passive peeling mechanism is successful in reducing the required power to peel. The presented advancements can be applied to other climbing robots using adhesives to allow for safer, more efficient climbing.