Design and Realization of a Flexible Claw of Rough Wall Climbing Robot

2011 ◽  
Vol 328-330 ◽  
pp. 388-392 ◽  
Author(s):  
Dong Liang Chen ◽  
Qun Zhang ◽  
Shao Zhi Liu
Keyword(s):  
Experimental Study ◽  
Degrees Of Freedom ◽  
Material Selection ◽  
Structure Design ◽  
Rough Wall ◽  
Flexible Structure ◽  
Climbing Robot ◽  
Mechanical Structure ◽  
Four Bar Linkage

Based on the research of foot characteristics of insecta, a climbing robot’s mechanical structure and kinematics are analyzed, and the main crawling institutions was designed by a kind of bionic four-bar linkage. Claws are made of sharp spines, claws are composed of a number of toes which are flexible structure with local degrees of freedom, they have a grate adaptivity to the rough wall. We have studied the characteristics of the rough wall climbing, and made analysis affection of reliability with the angle perched on. The experimental study indicates spine planning and structure design, material selection are reasonable.

Experimental Study of the Bolted Joint Surface Contact Angle

2013 ◽  
Vol 765-767 ◽  
pp. 181-184
Author(s):  
Ai Ping Zhang ◽  
Dong Mei Zhang ◽  
Zhi Feng Liu
Keyword(s):  
Experimental Study ◽  
Contact Angle ◽  
Experimental Research ◽  
Research Method ◽  
Structure Design ◽  
Joint Surface ◽  
Bolted Joint ◽  
Mechanical Structure ◽  
Surface Contact Angle ◽  
Effective Angle

We will study the effective value of the angle which affect on the bolted joint surface by the experimental research method. It gets the effective angle under different conditions in the experiment by the way of researching the joint surface stiffness which changing during the joint surface area changing in the paper. This results provide valid reference for the mechanical structure design which with the bolted joint surface, so as to achieving the purpose of more efficiency during the mechanical structure design.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Polymers for high performance Li-S batteries: Material selection and structure design

2019 ◽  
Vol 89 ◽  
pp. 19-60 ◽  
Author(s):  
Sheng Huang ◽  
Ruiteng Guan ◽  
Shuanjin Wang ◽  
Min Xiao ◽  
Dongmei Han ◽  
...  
Keyword(s):  
High Performance ◽  
Material Selection ◽  
Structure Design

Optimization-Based Design of a Leg Mechanism via Combined Kinematic and Structural Analysis

1994 ◽  
Author(s):  
W. B. Shieh ◽  
S. Azarm ◽  
L. W. Tsai ◽  
A. L. Tits
Keyword(s):  
Energy Loss ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Minimum Energy ◽  
Problem Formulation ◽  
Minimal Energy ◽  
Interactive Optimization ◽  
Joint Forces ◽  
Four Bar Linkage ◽  
Optimization Based Design

Abstract We study a recently proposed compound two degrees of freedom planar leg mechanism consisting of a four-bar linkage and a pantograph. In this mechanism, one degree of freedom is used for normal walking to provide an ovoid path which emulates that of humans while the other is used only when necessary to walk over obstacles. Potential advantages of such a compound mechanism are fast locomotion, minimal energy loss, simplicity in controller design, and slenderness of the leg. To exploit these to the fullest, a multiobjective optimization-based design problem formulation is proposed with the following four design objectives: (i) minimum leg height, (ii) minimum of the maximum joint forces, (iii) minimum leg mass, and (iv) minimum energy loss for a walking cycle. In addition, this problem formulation takes into account a combination of mechanism requirements and structural requirements. Several tradeoff solutions are obtained using the Consol-Optcad interactive optimization-based design package.

Design and analysis of a new frame-foot wall-climbing robot

2021 ◽  
pp. 095440702110402
Author(s):  
Ping Huo ◽  
Yangyang Xu ◽  
Jiangtao Yu ◽  
Yazhou Wang
Keyword(s):  
Structure Design ◽  
Working Environment ◽  
Structure Stability ◽  
Foot Wall ◽  
Climbing Robot ◽  
3D Design ◽  
Motion Equations ◽  
Solution Models ◽  
New Type ◽  
The Stability

This paper designs and develops a new type of frame-foot wall-climbing robot structure. According to the bionic principle, a new parallel telescopic leg structure is proposed, and the 3D design of the overall structure of the wall-climbing robot is completed. Secondly, the kinematics analysis of the robot is carried out, and the forward and inverse solution models of the leg structure position are completed to verify the feasibility of the leg structure stability. Based on the polynomial motion equations, the robot motion planning and gait design are established, and the speed and acceleration change graphs of the leg structure slider are obtained, which avoids the rigid impact between the parts, and realizes the alternate adsorption and continuous movement of the robot legs, which the rationality of the legs structure design and the stability of the movement are verified. Through simulation and experimental results, it is shown that during the robot’s movement, the leg structure can adjust the step distance and step height according to obstacles, so as to achieve the expected obstacle crossing goal. The leg structure is adjusted according to the working environment to ensure that the fuselage and the working surface are always kept parallel to improve the stability of the overall structure.

Sign in / Sign up

Export Citation Format

Share Document