Journal
BIOINSPIRATION & BIOMIMETICS
Volume 12, Issue 4, Pages -Publisher
IOP Publishing Ltd
DOI: 10.1088/1748-3190/aa728c
Keywords
climbing robot; bioinspiration; caterpillar; gecko adhesive pad; segment robot; solenoid
Funding
- Ministry of Trade, Industry and Energy [2013R1A2A2A01068159, 20161520101210]
- Korea Evaluation Institute of Industrial Technology (KEIT) [20161520101210] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Caterpillars are very successful soft-bodied climbers that navigate in complex environments. This paper develops a multi-segmented robot climbing on vertical surfaces using dry adhesive pads, inspired by caterpillar locomotion. The miniaturized robot consists of four segments, and each segment uses a solenoid actuator with a permanent magnet plunger. The head and body segments adapt a novel mechanism and Scott-Russell linkages to generate a bi-directional plane motion using one solenoid actuator, resulting to reliable attaching and peeling motions of gecko pads. A tail is also attached at the back of the last segment to avoid falling or exhibiting unstable motion. Gecko-inspired adhesive pads are fabricated from polydimethylsiloxane (PDMS) with the area of 20 mm x 10 mm. We have conducted experiments on the locomotion performance of the segment robot climbing vertical surfaces for two types of locomotion, achieving the fast and stable climbing motion.
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