Wet Adhesion Inspired Bionic Climbing Robot
Wet Adhesion Inspired Bionic Climbing Robot
复制标题
受湿粘附启发的仿生攀爬机器人
DOI：
10.1109/tmech.2012.2234473
复制
发表时间：
2014-02-01
影响因子：
6.4
通讯作者：
Hu, Sanqing
中科院分区：
文献类型：
--
作者：
He, Bin;Wang, Zhipeng;Hu, Sanqing
节肢动物如竹节虫，具有非凡的运动能力，可以利用湿润的附着垫爬上垂直表面。本文主要研究了一种新型湿式黏附垫的研制。根据昆虫脚垫的形态，分析了湿式粘接机理。探讨了电铸与软光刻相结合的新型微结构湿式粘接垫。特性试验结果表明，该工艺制备的衬垫表面微观结构能有效地提高其湿粘接能力。本文还讨论了六足爬行机器人样机的设计、制造和试验。实验结果表明，该机器人具有良好的攀爬能力；该机器人可以爬上80°以上的斜坡，并静态地附着在垂直表面上。
Arthropods like stick insects have remarkable locomotion performance to climb vertical surfaces with their wet adhesion pads. This paper focuses on the development of a novel wet adhesion pad for wall-climbing robots that can scale walls. According to the morphology of insects' pads, mechanism of wet adhesive is analyzed. A novel wet adhesive pad with microstructure based on combining electroforming process with soft lithography is explored. Characteristic test results show that microstructures on the surface of pads fabricated by the proposed technique can improve the wet adhesive ability effectively. The design, manufacture, and test of a hexapod climbing robot prototype are also discussed. Experimental results show that the climbing ability of the robot with the pads is exceptional; the robot can climb up to more than 80 ° sloped surface and stick to the vertical surface statically.