Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material | Robotica | Cambridge Core (original) (raw)

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.

References

Teixeira, M. A. S., Santos, H. B., Dalmedico, N., de Arruda, L. V. R., Neves-Jr, F.. and de Oliveira, A. S., “Intelligent environment recognition and prediction for NDT inspection through autonomous climbing robot,” J. Intell. Rob. Syst. 92, 323–342 (2018).CrossRefGoogle Scholar

Santos, H. B., Teixeira, M. A. S., de Oliveira, A. S., de Arruda, L. V. R. and Neves, F.-Jr., “Quasi-omnidirectional fuzzy control of a climbing robot for inspection tasks,” J. Intell. Rob. Syst. 91, 333–347 (2017).CrossRefGoogle Scholar

Briones, L., Bustamante, P. and Serna, M., “ROBICEN: A wall-climbing pneumatic robot for inspection in nuclear power plants,” Rob. Comput. Integr. Manuf. 11(4), 287–292 (1994).CrossRefGoogle Scholar

Zhu, H. F., Guan, Y. S., Wu, W. Q., Zhang, L. M., Zhou, X. F. and Zhang, H., “Autonomous pose detection and alignment of suction modules of a biped wall-climbing robot,” IEEE-ASME Trans. Mech. 20(2), 653–662 (2015).CrossRefGoogle Scholar

Yanagida, T., Mohan, R. E., Pathmakumar, T., Elangovan, K. and Iwase, M., “Design and implementation of a shape shifting rolling-crawling-wall-climbing robot,” Appl. Sci. Basel 7(4), 342 (2017).CrossRefGoogle Scholar

Koo, I. M., Trong, T. D., Lee, Y. H., Moon, H., Koo, J., Park, S. K. and Choi, H. R., “Development of wall climbing robot system by using impeller type adhesion mechanism,” J. Intell. Rob. Syst. 72(1), 57–72 (2013).CrossRefGoogle Scholar

Nagaoka, K., Minote, H., Maruya, K., Shirai, Y., Yoshida, K., Hakamada, T., Sawada, H. and Kubota, T., “Passive spine gripper for free-climbing robot in extreme terrain,” IEEE Rob. Autom. Lett. 3(3), 1765–1770 (2018).CrossRefGoogle Scholar

Pack, R. T., Christopher, J. L. and Kawamura, K., “A Rubbertuator-Based Structure-Climbing Inspection Robot,” Proceedings of International Conference on Robotics and Automation, vol. 1863 (1997) pp. 1869–1874.CrossRefGoogle Scholar

Nagaya, K., Yoshino, T., Katayama, M., Murakami, I. and Ando, Y., “Wireless piping inspection vehicle using magnetic adsorption force,” IEEE/ASME Trans. Mech. 17(3), 472–479 (2012).CrossRefGoogle Scholar

Fischer, W., Tâche, F. and Siegwart, R., “Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles,” Field and Service Robotics: Results of the 6th International Conference (Laugier, C. and Siegwart, R., eds.) (Springer, Berlin, Heidelberg, 2008) pp. 551–561.Google Scholar

Liu, Y., Sun, S., Wu, X. and Mei, T., “A wheeled wall-climbing robot with bio-inspired spine mechanisms,” J. Bionic. Eng. 12(1), 17–28 (2015).CrossRefGoogle Scholar

Autumn, K., Buehler, M., Cutkosky, M., Fearing, R., Full, R. J., Goldman, D., Groff, R., Provancher, W., Rizzi, A. A., Saranli, U., Saunders, A. and Koditschek, D. E., “Robotics in Scansorial Environments,” Defense and Security (SPIE, 2005) p. 12.Google Scholar

He, B., Xu, S., Zhou, Y. and Wang, Z., “Mobility properties analyses of a wall climbing hexapod robot,” J. Mech. Sci. Technol. 32(3), 1333–1344 (2018).CrossRefGoogle Scholar

Sitti, M. and Fearing, R. S., “Synthetic gecko foot-hair micro/nano-structures as dry adhesives,” J. Adhes. Sci. Technol. 17(8), 1055–1073 (2003).CrossRefGoogle Scholar

Yurdumakan, B., Raravikar, N. R., Ajayan, P. M. and Dhinojwala, A., “Synthetic gecko foot-hairs from multiwalled carbon nanotubes,” ChCom (30), 3799–3801 (2005).Google Scholar

Sitti, M. and Fearing, R. S., “Synthetic Gecko Foot-Hair Micro/Nano-Structures for Future Wall-Climbing Robots,” 2003 IEEE International Conference on Robotics and Automation (IEEE, 2003) pp. 1164–1170.Google Scholar

Raut, H. K., Baji, A., Hariri, H. H., Parveen, H., Soh, G. S., Low, H. Y. and Wood, K. L., “Gecko-inspired dry adhesive based on micro-nanoscale hierarchical arrays for application in climbing devices ACS,” Appl. Mater. Interfaces 10(1), 1288–1296 (2018).CrossRefGoogle Scholar

Han, I. H., Yi, H., Song, C. W., Jeong, H. E. and Lee, S. Y., “A miniaturized wall-climbing segment robot inspired by caterpillar locomotion,” Bioinspiration Biomim. 12(4): 046003 (2017).CrossRefGoogle ScholarPubMed

Peyvandi, A., Soroushian, P. and Lu, J., “A new self-loading locomotion mechanism for wall climbing robots employing biomimetic adhesives,” J. Bionic. Eng. 10(1), 12–18 (2013).CrossRefGoogle Scholar

Liu, Y., Kim, H. and Seo, T., “AnyClimb: A new wall-climbing robotic platform for various curvatures,” IEEE-ASME Trans. Mech. 21(4), 1812–1821 (2016).Google Scholar

Ko, H., Yi, H. and Jeong, H. E., “Wall and ceiling climbing quadruped robot with superior water repellency manufactured using 3D printing (UNIclimb),” Int. J. Precision Eng. Manuf. Green Technol. 4(3), 273–280 (2017).CrossRefGoogle Scholar

Autumn, K., Dittmore, A., Santos, D., Spenko, M. and Cutkosky, M., “Frictional adhesion: A new angle on gecko attachment,” J. Exp. Biol. 209(18), 3569–3579 (2006).CrossRefGoogle ScholarPubMed

Gorb, S., Varenberg, M., Peressadko, A. and Tuma, J., “Biomimetic mushroom-shaped fibrillar adhesive microstructure,” J. R. Soc. Interface 4(13), 271–275 (2007).CrossRefGoogle ScholarPubMed

Sugizaki, Y., Shiina, T., Tanaka, Y. and Suzuki, A., “Effects of peel angle on peel force of adhesive tape from soft adherend,” J. Adhes. Sci. Technol. 30(24), 2637–2654 (2016).CrossRefGoogle Scholar

Kendall, K., “Thin-film peeling-the elastic term,” J. Phys. D Appl. Phys. 8(13), 1449–1452 (1975).CrossRefGoogle Scholar

Wang, Z., Dai, Z., Yu, Z. and Shen, D., “Optimal Attaching and Detaching Trajectory for Bio-Inspired Climbing Robot Using Dry Adhesive,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2014).CrossRefGoogle Scholar

Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N. and Full, R. J., “Evidence for van der Waals adhesion in gecko setae,” Proc. Nat. Acad. Sci. 99(19), 12252–12256 (2002).CrossRefGoogle Scholar