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

Bian, Shiyuan; Wei, Yunjie; Xu, Feng; Kong, Deyi

doi:10.1007/s42235-021-0032-0

Cited by 43 publications

(13 citation statements)

References 46 publications

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“…Some unique planar linkage mechanisms are applied in the bioinspired climbing robots to generate a suitable foot trajectory to simplify the leg structure and minimize the weight of the robot. Four-bar linkage mechanism is frequently employed to the legs of climbing robots [18,81,197,198]. However, reducing the number of DOFs reduces the robot's flexibility and terrain adaptability.…”

Section: Bioinspired Adhesion Devicesmentioning

confidence: 99%

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Ding

2022

Front. Mech. Eng.

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Many organisms have attachment organs with excellent functions, such as adhesion, clinging, and grasping, as a result of biological evolution to adapt to complex living environments. From nanoscale to macroscale, each type of adhesive organ has its own underlying mechanisms. Many biological adhesive mechanisms have been studied and can be incorporated into robot designs. This paper presents a systematic review of reversible biological adhesive methods and the bioinspired attachment devices that can be used in robotics. The study discussed how biological adhesive methods, such as dry adhesion, wet adhesion, mechanical adhesion, and sub-ambient pressure adhesion, progress in research. The morphology of typical adhesive organs, as well as the corresponding attachment models, is highlighted. The current state of bioinspired attachment device design and fabrication is discussed. Then, the design principles of attachment devices are summarized in this article. The following section provides a systematic overview of climbing robots with bioinspired attachment devices. Finally, the current challenges and opportunities in bioinspired attachment research in robotics are discussed.

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Section: Bioinspired Adhesion Devicesmentioning

confidence: 99%

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Ding

2022

Front. Mech. Eng.

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“…To climb and maintain on vertical surfaces without falling off, the reliable attachment is very important for climbing robots. There are several means to generate the adhesion forces needed for climbing, including suction adhesion [ 2 , 3 , 4 ], magnetic adhesion [ 5 , 6 , 7 ], electrostatic adhesion [ 8 , 9 , 10 , 11 ], gecko-inspired dry adhesive [ 12 , 13 , 14 , 15 , 16 ], and insect-inspired spines [ 17 , 18 , 19 , 20 , 21 ]. Suction adhesion is widely used in climbing robots, but it is not suitable for climbing on rough surfaces due to gas leakage.…”

Section: Introductionmentioning

confidence: 99%

A Spiny Climbing Robot with Dual-Rail Mechanism

Liu

Wang

et al. 2023

Biomimetics

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Easy detachment is as important as reliable an attachment to climbing robots in achieving stable climbing on vertical surfaces. To deal with the difficulty of detachment occurring in wheeled and track-type climbing robots using bio-inspired spines, a novel climbing robot utilizing spiny track and dual-rail mechanism is proposed in this paper. The spiny track consists of dozens of spiny feet, and the movement of each spiny foot is guided by the specially designed dual-rail mechanism to achieve reliable attachment and easy detachment. First, the design of the climbing robot and the dual-rail mechanism are presented. Then, the dual-rail model is constructed to analyze the attaching and detaching movements of the spiny feet, and a mechanical model is established to analyze the force distribution on the spiny track. Finally, a robot prototype is developed, and the analysis results are verified by the experiment results. Experiments on the prototype demonstrated that it could climb on various rough vertical surfaces at a speed of 36 mm/s, including sandpaper, brick surfaces, concrete walls with pebbles, and coarse stucco walls.

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“…The application scenarios of tree-climbing robots widely include agriculture and service industries. Shiyuan Bian [1] proposed a small quadruped tree-climbing robot inspired by insect beetles and geckos. The whole is made of 3D printing and powered by multiple steering gears, but it has a small grasping range and small friction.…”

Section: Introductionmentioning

confidence: 99%

Structural Design and Simulation Analysis of Quadruped Tree Climbing Robot

Jiang

Xin

et al. 2023

J. Phys.: Conf. Ser.

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Aiming at the problems of large size and complex structure of the existing tree-climbing robot, a new structure of the quadruped tree-climbing robot is designed based on the structure of the existing quadruped tree-climbing robot. We established a mathematical model using robotics, and carried out a positive kinematics analysis of the overall structure. The finite element simulation analysis of the key components and the simulation and verification of the transmission core components are carried out. The overall structure of the redesigned four-legged tree climbing robot is simple, weight, small endurance, high endurance and high finite element results show the grasping mechanism The reasonable stress distribution of the frame design is more uniform, and the robot has strong stability in the process of climbing trees.

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

Cited by 43 publications

References 46 publications

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics

A Spiny Climbing Robot with Dual-Rail Mechanism

Structural Design and Simulation Analysis of Quadruped Tree Climbing Robot

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