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Bio-inspired single-driver multi-motion modes wall climbing robot

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Abstract

The robots based on bionic geckos and inchworms are more flexible and more adaptable than other mobile robots. However, most of the existing bionic wall climbing robots have problems with multiple drives and complex control. By studying gecko and inchworm, a single-driver multi-motion mode wall climbing robot (SMWR) is proposed. The proposed robot uses an active driver to drive each legs. First, its minimum adhesion force when climbing on a wall is calculated and the inchworm motion pattern is analyzed when it moves rapidly. Second, the different sequences of the foot tip and the overall motion of the robot under the imitation gecko gait is determined, and the ability of SMWR to cross and turning is deduced. Finally, a wall climbing robot prototype is constructed. The robot proposed in this paper can replace manual work to achieve more lasting work, such as high-altitude glass cleaning and so on.

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Acknowledgments

This work was supported by Research Program supported by National Natural Science Foundation of China (Grant No. 51875495).

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Authors and Affiliations

  1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, 066004, China

    Zhongjin Ju, Ke Wei, Ze Jiang & Yundou Xu

  2. Key Laboratory of Advanced Forging and Stamping Technology and Science, Yanshan University, Qinhuangdao, 066004, China

    Yundou Xu

Authors
  1. Zhongjin Ju
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  2. Ke Wei
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  3. Ze Jiang
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  4. Yundou Xu
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Corresponding author

Correspondence to Yundou Xu.

Additional information

Zhongjin Ju received the MA.Eng. degree in mechanical engineering from Yanshan University, Hebei, China, in 2020. He is currently pursuing the Ph.D. degree in mechanical and electronic engineering at Yanshan University. His current research interests include parallel mechanisms and bionic robots.

Ke Wei received the B.S. degree in mechanical engineering from Yanshan University, Hebei, China, in 2021. He is currently pursuing the MA. degree in mechanical and electronic engineering at Yanshan University. His current research interests include Quadruped.

Ze Jiang received the B.S. degree in mechanical engineering from North China Institute of Aerospace Engineering, Hebei, China in 2017. He is currently pursuing the Ph.D. degree in mechanical and electronic engineering at Yanshan University. His current research interests include parallel mechanisms and bionic robots.

Yundou Xu received the Ph.D. degree in mechanical and electronic engineering from Yanshan University, Hebei, China, in 2012. He is currently an Associate Professor of the School of Mechanical Engineering, and Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University. His current research interests include parallel mechanisms and deployable mechanisms, and their application in the field of satellite antenna system, intelligent robots.

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Ju, Z., Wei, K., Jiang, Z. et al. Bio-inspired single-driver multi-motion modes wall climbing robot. J Mech Sci Technol 37, 3777–3791 (2023). https://doi.org/10.1007/s12206-023-0641-0

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  • DOI: https://doi.org/10.1007/s12206-023-0641-0

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