Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot
Aiming at the application requirements of climbing on rough walls and ceilings, an inchworm-inspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to comple...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2019-08-01
|
| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.016 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841548858375536640 |
|---|---|
| author | Yanwei Liu Limeng Wang Sanwa Liu Tao Mei Pengyang Li Yan Li |
| author_facet | Yanwei Liu Limeng Wang Sanwa Liu Tao Mei Pengyang Li Yan Li |
| author_sort | Yanwei Liu |
| collection | DOAJ |
| description | Aiming at the application requirements of climbing on rough walls and ceilings, an inchworm-inspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to complete the forward, backward and wall transition movements. The grasping principle of the inchworm feet is analyzed and the bionic spiny gripper is designed. The statics and kinematics analysis of the robot during climbing process are carried out. The robot prototype is developed and several climbing experiments and tests are carried out. The results show that the inchworm-inspired wall-climbing robot can climb on rough walls and ceilings with the ability of transition between walls. |
| format | Article |
| id | doaj-art-bf07256dba6747b5b979603cbadffbb9 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-08-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-bf07256dba6747b5b979603cbadffbb92025-01-10T13:59:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-08-0143879130643593Design and Analysis of an Inchworm-Inspired Wall-Climbing RobotYanwei LiuLimeng WangSanwa LiuTao MeiPengyang LiYan LiAiming at the application requirements of climbing on rough walls and ceilings, an inchworm-inspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to complete the forward, backward and wall transition movements. The grasping principle of the inchworm feet is analyzed and the bionic spiny gripper is designed. The statics and kinematics analysis of the robot during climbing process are carried out. The robot prototype is developed and several climbing experiments and tests are carried out. The results show that the inchworm-inspired wall-climbing robot can climb on rough walls and ceilings with the ability of transition between walls.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.016Inchworm-inspired robotWall-climbing robotSpiny gripperRough wall |
| spellingShingle | Yanwei Liu Limeng Wang Sanwa Liu Tao Mei Pengyang Li Yan Li Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot Jixie chuandong Inchworm-inspired robot Wall-climbing robot Spiny gripper Rough wall |
| title | Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot |
| title_full | Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot |
| title_fullStr | Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot |
| title_full_unstemmed | Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot |
| title_short | Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot |
| title_sort | design and analysis of an inchworm inspired wall climbing robot |
| topic | Inchworm-inspired robot Wall-climbing robot Spiny gripper Rough wall |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.08.016 |
| work_keys_str_mv | AT yanweiliu designandanalysisofaninchworminspiredwallclimbingrobot AT limengwang designandanalysisofaninchworminspiredwallclimbingrobot AT sanwaliu designandanalysisofaninchworminspiredwallclimbingrobot AT taomei designandanalysisofaninchworminspiredwallclimbingrobot AT pengyangli designandanalysisofaninchworminspiredwallclimbingrobot AT yanli designandanalysisofaninchworminspiredwallclimbingrobot |