Design,Modeling and Experimentation of a Biomimetic Wall-climbing Robot for Multiple Surfaces  

作　　者：Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli 

机构地区：[1]Institute of Advanced Manufacturing Technology,Hefei Institutes of Physical Science,CAS,Changzhou 213164,China [2]Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei 230026,China [3]Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology,Hefei 230026,China [4]Department of Industrial Engineerings University of Rome Tor Vergata,Via del Politecnico 1,00133,Roma,Italy

出　　处：《Journal of Bionic Engineering》2020年第3期523-538,共16页仿生工程学报（英文版）

基　　金：This work was supported by grants from Science and Technology Major Project of Anhui Province(17030901034);Jiangsu Key Research and Development Plan(BE2017067).

摘　　要：Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation efficiency.However,traditional single-mode robots cannot ensure the stable attachment on complex wall surfaces.Inspired by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are proposed.Aiming at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration synthesis.Using static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or more.Based on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform speed.Finally,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling wall.Meanwhile,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall respectively.These findings could provide practical reference for the robot’s application on walls.

关 键 词：wall-climbing robot spine wheel adhesive material adsorption system 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]