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Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Published online by Cambridge University Press:  09 June 2021

Hongkai Li Open the ORCID record for Hongkai Li [Opens in a new window] ,
Xianfei Sun ,
Zishuo Chen ,
Lei Zhang ,
Hongchao Wang  and
Xing Wu
Hongkai Li*
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China Science and Technology on Electro-optic Control Laboratory, Luoyang471000, China
Xianfei Sun
Affiliation:
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
Zishuo Chen
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
Lei Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
Hongchao Wang
Affiliation:
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
Xing Wu
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing210016, China
*
*Corresponding author. Email: hklee@nuaa.edu.cn
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Abstract

Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Keywords

wheeled robotwall climbingadhesive materialstabilitymotion control
Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 611 - 624
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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