A New Self-Loading Locomotion Mechanism for Wall Climbing Robots Employing Biomimetic Adhesives

A New Self-Loading Locomotion Mechanism for Wall Climbing Robots Employing Biomimetic

Adhesives

Amirpasha Peyvandi;Parviz Soroushian;Jue Lu

【期刊名称】《仿生工程学报（英文版）》 【年(卷),期】2013(010)001

【摘要】A versatile locomotion mechanism is introduced and experimentally verified.This mechanism comprises four rectangular wheels (legs) with rotational phase difference which enables the application of pressure to each contacting surface for securing it to the surface using bio-inspired or pressure-sensitive adhesives.In this mechanism,the adhesives are applied to two rigid plates attached to each wheel via hinges incorporating torsional springs.The springs force the plates back to their original position after the contact with the surface is lost in the course of locomotion.The wheels are made of low-modulus elastomers,and the pressure applied during contact is controlled by the elastic modulus,geometry and phase difference of wheels.This reliable adhesion system does not rely upon gravity for adhering to surfaces,and provides the locomotion mechanism with the ability to climb walls and transition from horizontal to vertical surfaces. 【总页数】7页(12-18) 【关键词】