SGER: Biomimetic Wet Attachment Mechanism for Miniature Climbing Robots in Unstructured Environments

SGER：非结构化环境中微型攀爬机器人的仿生湿式附着机构

• 批准号: 0328579
• 负责人: Metin Sitti
• 金额: $ 10万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2003
• 资助国家: 美国
• 起止时间: 2003-09-01 至 2004-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0328579&HistoricalAwards=false
• 关键词: SGER; Biomimetic; Wet; Attachment; Mechanism

Robotics and Computer Vision ProgramABSTRACTProposal #: 0328579Title: SGER: Biomimetic Wet Attachment Mechanism for Miniature Climbing Robots in Unstructured EnvironmentsPI: Sitti, MetinCarnegie Mellon UniversityThis research investigates the development of an untested and novel capillary forces based attachment mechanism for miniature climbing robots. As different from the currently available techniques, this novel technique would enable robust and power efficient climbing to wide range of unstructured surfaces with relatively high attachment forces. The proposed wet adhesion based attachment and detachment mechanism is inspired from beetles, ants, crickets, etc. type of insects. Design and manufacturing of the first biomimetic polymer micro/nano-hair structures with microfluidic channels and liquid reservoir would be realized, and its feasibility would be demonstrated. Compliant polymer hairs and their liquid layer could adapt to wide range of surface roughness by filling the gaps, and attachment forces few magnitudes order higher than the robot body weight would become possible using strong capillary forces. Moreover, the detachment of the stuck micro/nano-hairs would be investigated since the detachment mechanism has not been completely understood yet. By an optimized detachment mechanism with minimal forces, power consumption of the miniature robots would be reduced significantly. By the proposed synthetic micro/nano-structure manufacturing techniques and micro/nano-force models to be developed, robust miniature climbing and walking robotic systems in unstructured environments would become possible in the near future. Thus, more lives would be saved in disasters and accidents, and we could access to unprecedented and hazardous areas in nuclear

机器人和计算机视觉计划摘要提案号：0328579标题：SGER：仿生湿附着机制的微型攀爬机器人在非结构化环境PI：Sitti，MetinCarnegie Mellon University这项研究调查了一个未经测试的和新的毛细作用力为基础的微型攀爬机器人附着机制的发展。 与目前可用的技术不同，这种新颖的技术将使得能够以相对高的附着力稳健且功率有效地爬升到大范围的非结构化表面。 所提出的基于湿粘附的附着和分离机制受到甲虫、蚂蚁、蟋蟀等类型的昆虫的启发。 实现第一个具有微流控通道和储液器的仿生聚合物微/纳米毛发结构的设计和制造，并论证其可行性。 柔性聚合物毛发和它们的液体层可以通过填充间隙来适应宽范围的表面粗糙度，并且使用强毛细管力可以实现比机器人体重高几个数量级的附着力。 此外，由于分离机制尚未完全理解，因此将研究粘附的微/纳米毛发的分离。 通过一个优化的分离机构，以最小的力，微型机器人的功耗将显着降低。 通过所提出的合成微/纳米结构制造技术和微/纳米力模型的开发，鲁棒的微型攀爬和行走机器人系统在非结构化环境中将成为可能，在不久的将来。 因此，更多的生命将在灾难和事故中得到拯救，我们可以进入前所未有的危险地区，