A Four-legged Wall-climbing Robot with Spines and Miniature Setae Array Inspired by Longicorn and Gecko  

作　　者：Shiyuan Bian Yuliang Wei Feng Xu Deyi Kong 

机构地区：[1]Institute of Intelligent Machines,Hefei Institutes of Physical Science,Chinese Academy of Sciences,Hefei 230031,China [2]University of Science and Technology of China,Hefei 230009,China

出　　处：《Journal of Bionic Engineering》2021年第2期292-305,共14页仿生工程学报（英文版）

基　　金：This research was supported by the National Natural Science Foundation of China(No.11774355).

摘　　要：In industrial applications,climbing robots are widely used for climbing and detection of rough or smooth pipe surfaces.Inspired by the special claws of longicorn is that can crawl on rough surfaces and the array of tiny bristles of geckos that can crawl on smooth surfaces,a new type of wall-climbing robot for rough or smooth surfaces is proposed in this paper.The bionic palms of the robot are suggested with special bionic hooks inspired by the longicorn and bionic adhesive materials inspired by the gecko with a good performance on adhering on the surfaces.The special bionic hooks are manufactured by the 3D printing method and the bionic adhesive materials are made by the polymer print lithography technology.These two different bionic adhere accessory are used on the robot’s palm to achieve climbing on the different surfaces.This foldable climbing robot can not only bend its own body to accommodate the cylindrical contact surfaces of different diameters,but also crawl on vertical rough and smooth surfaces using their bionic palms.

关 键 词：wall-climbing robot miniature setae array bionic hooks bionic palms bionic adhesive materials 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]