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.
Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 6, 2018; final manuscript received December 21, 2018; published online February 22, 2019. Assoc. Editor: Andreas Mueller.
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Dharmawan, A. G., Xavier, P., Hariri, H. H., Soh, G. S., Baji, A., Bouffanais, R., Foong, S., Low, H. Y., and Wood, K. L. (February 22, 2019). "Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives." ASME. J. Mechanisms Robotics. April 2019; 11(2): 020902. https://doi.org/10.1115/1.4042457
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