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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives
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Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives

机译：双层干粘合剂的生物启发微型攀爬机器人的设计，建模和实验

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摘要

This paper presents the design, modeling, and analysis of the force behavior acting on a wheel-legs (whegs) type robot which utilizes bilayer dry adhesives for wall-climbing. The motion of the robot is modeled as a slider-crank mechanism to obtain the dynamic parameters of the robot during movement. The required forces and moment to maintain equilibrium as the robot is in motion is then extensively analyzed and discussed. Following the analysis, fundamental measures to attain an operative climbing robot, such as adhesive requirement and torque specification, are then identified. The outcomes of the analysis are verified through experiments and working prototypes that are in good agreement with the design guidelines.
机译：本文介绍了作用在车轮腿（灯胶）型机器人上的力行为的设计，建模和分析，其利用双层干粘合剂进行壁爬。 机器人的运动被建模为滑块曲柄机构，以在运动期间获得机器人的动态参数。 然后广泛地分析并讨论以使机器人保持平衡的所需力和时刻。 然后鉴定出现在分析中，达到耐用攀爬机器人的基本措施，例如粘合剂要求和扭矩规格。 通过与设计准则的实验和工作原型进行验证，分析结果是验证的。

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