A Bio-inspired Climbing Robot with Flexible Pads and Claws  

作　　者：Aihong Ji Zhihui Zhao Poramate Manoonpong Wei Wang Guangming Chen Zhendong Dai 

机构地区：[1]Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China [2]CBR Embodied AI & Neurorobotics Lab, The McerskMc-Kinney Moller Institute, University of Southern Denmark, Odense M, Denmark

出　　处：《Journal of Bionic Engineering》2018年第2期368-378,共11页仿生工程学报（英文版）

基　　金：Acknowledgment This work was supported by the National Natural Science Foundation of China （51375232） and Key Plan of Research and Development of Jiangsu Province （BE2017766）.

摘　　要：Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm.s^-1.Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm.s^-1.

关 键 词：bionic climbing robot mechanical interlocking CLAW rough surface 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] C913.2[自动化与计算机技术—控制科学与工程]