Wall and ceiling climbing quadruped robot with superior water repellency manufactured using 3D printing (UNIclimb)
Gecko lizards have superior locomotive capabilities to walk on ceilings and walls of varying angles. Furthermore, their skin has superior water-repellency due to hierarchical hairy structures on it. With these remarkable capabilities, their wide range of locomotion is effective even in rainy and wet environments, leading to enhanced survival capabilities. Current wall climbing robots have limited abilities in locomotion and surface functionalities compared to gecko lizards. In this paper, we present a gecko-inspired quadruped robot that can walk on ceilings and varying angled walls. Furthermore, the surface of the robot is coated with nanoparticles, enabling superior water repellency, similar to the gecko lizard. The quadruped robot is manufactured using a 3D printing technique with minimal materials in a rapid, facile, and environment-friendly manner.
KeywordsQuadruped robot Hoekens linkage Biomimetics Gecko Dry adhesive 3D printing
Selective laser sintering
- PA 12
Polyamide 12 (Nylon 12)
Unable to display preview. Download preview PDF.
- 7.Lam, T. L. and Xu, Y., “A Flexible Tree Climbing Robot: Treebot-Design and Implementation,” Proc. of IEEE International Conference on Robotics and Automation, 2011.Google Scholar
- 15.Hiller, U. N., “Water Repellence in Gecko Skin: How Do Geckos Keep Clean? in Functional Surfaces In biology,” Springer, pp. 47–53, 2009.Google Scholar
- 24.Kang, S. M., “Bioinspired Design and Fabrication of Green-Environmental Dry Adhesive with Robust Wide-Tip Shape,” Int. J. Precis. Eng. Manuf.-Green Tech., Vol. 3, No. 2, pp.189-192, 2016.Google Scholar
- 26.Kim, J. H., Kang, S. M., Lee, B. J., Ko, H., Bae, W. G., et al., “Remote Manipulation of Droplets on a Flexible Magnetically Responsive Film,” Scientific Reports, Vol. 5, Paper No. 17843, 2015.Google Scholar
- 29.Zaaf, A., Van Damme, R., Herrel, A., and Aerts, P., “Spatio-Temporal Gait Characteristics of Level and Vertical Locomotion in a Ground-Dwelling and a Climbing Gecko,” Journal of Experimental Biology, Vol. 204, No. 7, pp. 1233–1246, 2001.Google Scholar