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A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone.

Wenkai Huang1, Wei Hu1, Tao Zou1

  • 1School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China.

Sensors (Basel, Switzerland)
|November 27, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a novel bionic wall-climbing robot with modular design and variable step distance. This adaptable robot can overcome large gaps and varying loads, inspired by leech locomotion.

Keywords:
internal soft bonemodularpayload power factorvariable loadvariable step distancewall-climbing robot

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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Existing wall-climbing robots struggle with discontinuous surfaces and fixed load capacities.
  • Large gaps and variable load requirements limit the adaptability of current robotic systems.

Purpose of the Study:

  • To develop a bionic modular wall-climbing robot with enhanced adaptability to discontinuous walls and variable loads.
  • To overcome the limitations of fixed step distances and load capacities in conventional wall-climbing robots.

Main Methods:

  • A modular design inspired by leech peristalsis and an internal soft-bone connection.
  • Development of a multi-module cooperative motion strategy for variable step distance.
  • Establishment of the robotic kinematics model and finite element simulation analysis.

Main Results:

  • The robot achieves a variable step distance, reaching up to 3.6 times the module length.
  • Successfully crosses discontinuous walls with gaps up to 150 mm.
  • Load capacity scales with the number of modules, with N modules carrying approximately 1.3 times the self-weight.

Conclusions:

  • The bionic modular robot offers superior adaptability for wall climbing on complex and discontinuous surfaces.
  • The variable step distance and scalable load capacity represent significant advancements in wall-climbing robotics.
  • This design enables efficient climbing, turning, and gap traversal for challenging environments.