Kai Cao, Jiajun Xu, Huan Shen, Mengcheng Zhao, Zihao Guo, Yi Sun, Linsen Xu, Aihong Ji
{"title":"基于滚动吸附机制的仿生轮履爬墙机器人","authors":"Kai Cao, Jiajun Xu, Huan Shen, Mengcheng Zhao, Zihao Guo, Yi Sun, Linsen Xu, Aihong Ji","doi":"10.1007/s42235-024-00603-6","DOIUrl":null,"url":null,"abstract":"<div><p>Wall climbing robots have a wide range of applications in the field of transportation, petrochemicals, aerial construction, and other monitoring prospects; however, for complex defects on the wall, it is easy for the robot to fall off from attachment. This paper puts forward the bionic wheel-tracked rolling adsorption wall-climbing robots. The paper designs flexible material as sealing material for the negative pressure chamber of wall-climbing robots through the imitation of the biological mechanism of the insect adhesion pads. The material has the advantages of wear resistance, strong wall adaptability, large load, simple structure, etc., and it has a highly reliable and stable adsorption ability on unstructured and complex walls. The mathematical model of adsorption of the wall-crawling robot is constructed in different wall environments, and the kinematic analysis is carried out. The influence of the leakage on the adsorption capacity due to the deformation of the flexible sealing material, defects of the wall surface and the air ducts formed under different roughnesses is analyzed. Through the fabrication and experiment of the prototype, the correctness of the theoretical analysis is verified. The measured load capacity of the robot is 2.47 times its own weight, and it has great obstacle-crossing ability.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"21 6","pages":"2779 - 2791"},"PeriodicalIF":4.9000,"publicationDate":"2024-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Biomimetic Wheel-Track Wall-Climbing Robot Based on Rolling Adsorption Mechanism\",\"authors\":\"Kai Cao, Jiajun Xu, Huan Shen, Mengcheng Zhao, Zihao Guo, Yi Sun, Linsen Xu, Aihong Ji\",\"doi\":\"10.1007/s42235-024-00603-6\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Wall climbing robots have a wide range of applications in the field of transportation, petrochemicals, aerial construction, and other monitoring prospects; however, for complex defects on the wall, it is easy for the robot to fall off from attachment. This paper puts forward the bionic wheel-tracked rolling adsorption wall-climbing robots. The paper designs flexible material as sealing material for the negative pressure chamber of wall-climbing robots through the imitation of the biological mechanism of the insect adhesion pads. The material has the advantages of wear resistance, strong wall adaptability, large load, simple structure, etc., and it has a highly reliable and stable adsorption ability on unstructured and complex walls. The mathematical model of adsorption of the wall-crawling robot is constructed in different wall environments, and the kinematic analysis is carried out. The influence of the leakage on the adsorption capacity due to the deformation of the flexible sealing material, defects of the wall surface and the air ducts formed under different roughnesses is analyzed. Through the fabrication and experiment of the prototype, the correctness of the theoretical analysis is verified. The measured load capacity of the robot is 2.47 times its own weight, and it has great obstacle-crossing ability.</p></div>\",\"PeriodicalId\":614,\"journal\":{\"name\":\"Journal of Bionic Engineering\",\"volume\":\"21 6\",\"pages\":\"2779 - 2791\"},\"PeriodicalIF\":4.9000,\"publicationDate\":\"2024-11-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Bionic Engineering\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s42235-024-00603-6\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Bionic Engineering","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1007/s42235-024-00603-6","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MULTIDISCIPLINARY","Score":null,"Total":0}
A Biomimetic Wheel-Track Wall-Climbing Robot Based on Rolling Adsorption Mechanism
Wall climbing robots have a wide range of applications in the field of transportation, petrochemicals, aerial construction, and other monitoring prospects; however, for complex defects on the wall, it is easy for the robot to fall off from attachment. This paper puts forward the bionic wheel-tracked rolling adsorption wall-climbing robots. The paper designs flexible material as sealing material for the negative pressure chamber of wall-climbing robots through the imitation of the biological mechanism of the insect adhesion pads. The material has the advantages of wear resistance, strong wall adaptability, large load, simple structure, etc., and it has a highly reliable and stable adsorption ability on unstructured and complex walls. The mathematical model of adsorption of the wall-crawling robot is constructed in different wall environments, and the kinematic analysis is carried out. The influence of the leakage on the adsorption capacity due to the deformation of the flexible sealing material, defects of the wall surface and the air ducts formed under different roughnesses is analyzed. Through the fabrication and experiment of the prototype, the correctness of the theoretical analysis is verified. The measured load capacity of the robot is 2.47 times its own weight, and it has great obstacle-crossing ability.
期刊介绍:
The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to:
Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion.
Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials.
Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices.
Development of bioinspired computation methods and artificial intelligence for engineering applications.