{"title":"基于可切换黏附的智能木材柔性攀爬机器人","authors":"Xiaodong Wang, Yaodong Li, Xiaolei Guo, Guanggui Cheng, Rui Lei, Jing Hua, Qichen Zeng, Xucheng Wang, Xuehai Guo","doi":"10.1007/s11249-025-02043-7","DOIUrl":null,"url":null,"abstract":"<div><p>Climbing robots have vital uses in uncharted terrain exploration, military intelligence collecting, and other areas. To address the drawbacks of classic wall-climbing robots, this study introduced a novel soft climbing robot constructed of the smart wood with switchable adhesion force. The experimental findings indicated that the soft robot implemented in this research could effectively perform climbing movements on diverse walls and sloping pavements, enabled by temperature control through cold/hot water circulation and pneumatic actuation. Further research revealed that the reversible phase transition of PNIPAM at different temperatures was the main reason for the variable adhesion force of the smart wood. Moreover, the adhesion force model developed in this work indicated that the adhesion force of the smart wood surface was mostly composed of the contact mechanics force and the capillary force. Finally, this study will offer novel insights for the design of climbing robots and advance their potential applications.</p><h3>Graphical Abstract</h3>\n<div><figure><div><div><picture><source><img></source></picture></div></div></figure></div></div>","PeriodicalId":806,"journal":{"name":"Tribology Letters","volume":"73 3","pages":""},"PeriodicalIF":3.3000,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Soft Climbing Robot Based on Smart Wood with Switchable Adhesion\",\"authors\":\"Xiaodong Wang, Yaodong Li, Xiaolei Guo, Guanggui Cheng, Rui Lei, Jing Hua, Qichen Zeng, Xucheng Wang, Xuehai Guo\",\"doi\":\"10.1007/s11249-025-02043-7\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Climbing robots have vital uses in uncharted terrain exploration, military intelligence collecting, and other areas. To address the drawbacks of classic wall-climbing robots, this study introduced a novel soft climbing robot constructed of the smart wood with switchable adhesion force. The experimental findings indicated that the soft robot implemented in this research could effectively perform climbing movements on diverse walls and sloping pavements, enabled by temperature control through cold/hot water circulation and pneumatic actuation. Further research revealed that the reversible phase transition of PNIPAM at different temperatures was the main reason for the variable adhesion force of the smart wood. Moreover, the adhesion force model developed in this work indicated that the adhesion force of the smart wood surface was mostly composed of the contact mechanics force and the capillary force. Finally, this study will offer novel insights for the design of climbing robots and advance their potential applications.</p><h3>Graphical Abstract</h3>\\n<div><figure><div><div><picture><source><img></source></picture></div></div></figure></div></div>\",\"PeriodicalId\":806,\"journal\":{\"name\":\"Tribology Letters\",\"volume\":\"73 3\",\"pages\":\"\"},\"PeriodicalIF\":3.3000,\"publicationDate\":\"2025-07-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Tribology Letters\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s11249-025-02043-7\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, CHEMICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Tribology Letters","FirstCategoryId":"5","ListUrlMain":"https://link.springer.com/article/10.1007/s11249-025-02043-7","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, CHEMICAL","Score":null,"Total":0}
A Soft Climbing Robot Based on Smart Wood with Switchable Adhesion
Climbing robots have vital uses in uncharted terrain exploration, military intelligence collecting, and other areas. To address the drawbacks of classic wall-climbing robots, this study introduced a novel soft climbing robot constructed of the smart wood with switchable adhesion force. The experimental findings indicated that the soft robot implemented in this research could effectively perform climbing movements on diverse walls and sloping pavements, enabled by temperature control through cold/hot water circulation and pneumatic actuation. Further research revealed that the reversible phase transition of PNIPAM at different temperatures was the main reason for the variable adhesion force of the smart wood. Moreover, the adhesion force model developed in this work indicated that the adhesion force of the smart wood surface was mostly composed of the contact mechanics force and the capillary force. Finally, this study will offer novel insights for the design of climbing robots and advance their potential applications.
期刊介绍：
Tribology Letters is devoted to the development of the science of tribology and its applications, particularly focusing on publishing high-quality papers at the forefront of tribological science and that address the fundamentals of friction, lubrication, wear, or adhesion. The journal facilitates communication and exchange of seminal ideas among thousands of practitioners who are engaged worldwide in the pursuit of tribology-based science and technology.
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