Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to s...Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.展开更多
Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and p...Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.展开更多
With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In thi...The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In this study,tendril phenotypes were investigated during different developmental stages.Our results revealed that tendril growth exhibited an age-dependent pattern in cucurbits.Tendril growth was inhibited,and the tendril was formed as a short tendril[nonfunctional tendril(nonF-tendril),approximately 0.1 cm]during the seedling stage.In contrast,enhanced cell proliferation and cell expansion led to rapid elongation of the tendril during the climbing stage,and the tendril formed as a functional tendril(F-tendril,approximately 30 cm)to obtain climbing ability.RT-qPCR detection showed that age-dependent tendril growth correlated negatively with the abundance of the conserved age regulator CsmiR156.Defoliation induced CsmiR156 to inhibit CsSPLs,and F-tendril formation and climbing ability were delayed in defoliated cucumbers,which confirmed the role of CsmiR156 in regulating tendril growth in vivo.Additionally,exogenous gibberellin(GA)treatment showed that GA positively regulated tendril growth,and RT-qPCR detection showed that the GA bio-synthetic genes and metabolic genes were affected by age pathway,suggesting that the age pathway depended on GA bio-synthetic and metabolic pathway to regulate cell expansion to determine tendril growth.In summary,our work reveals that change in tendril type is an important marker of phase transition in cucumber,and tendril growth is regulated by an intrinsic developmental age signal,ensuring that the cucumber obtains climbing ability at a suitable age.展开更多
Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in t...Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in the middle reaches of the Yellow River(MRYR)have not been comprehensively elucidated.In this study,we explored the distribution pattern of urban construction land on different slope gradients at different scales and analyzed its influencing factors.The main findings were as follows:(1)There has been significant expansion of urban construction land in the MRYR over the past 20 years.Spatial heterogeneity was observed in the regional urban construction land expansion process among different geomorphic regions.(2)The urban construction land in the MRYR was expanded vertically to areas with slopes of>5°,particularly in 2005–2010.Significant slope climbing of urban construction land was observed in the loess hilly-gully and rocky mountain areas.(3)In MRYR,68.45%of the counties were categorized as the slope-climbing types,including 37.38%high-slope-climbing types.(4)The regional population density and economic development level were closely associated with regional urban construction land area variability.(5)The climbing process of regional urban construction can effectively alleviate farmland encroachment and pressure on the regional ecological environment.The urban expansion of the metropolitan distribution areas in the Plain region(such as Xi'an,Taiyuan)had a relatively significant impact on the local carbon storage.展开更多
Wall climbing robots have a wide range of applications in the field of transportation,petrochemicals,aerial construction,and other monitoring prospects;however,for complex defects on the wall,it is easy for the robot ...Wall climbing robots have a wide range of applications in the field of transportation,petrochemicals,aerial construction,and other monitoring prospects;however,for complex defects on the wall,it is easy for the robot to fall off from attachment.This paper puts forward the bionic wheel-tracked rolling adsorption wall-climbing robots.The paper designs flexible material as sealing material for the negative pressure chamber of wall-climbing robots through the imitation of the biological mechanism of the insect adhesion pads.The material has the advantages of wear resistance,strong wall adaptability,large load,simple structure,etc.,and it has a highly reliable and stable adsorption ability on unstructured and complex walls.The mathematical model of adsorption of the wall-crawling robot is constructed in different wall environments,and the kinematic analysis is carried out.The influence of the leakage on the adsorption capacity due to the deformation of the flexible sealing material,defects of the wall surface and the air ducts formed under different roughnesses is analyzed.Through the fabrication and experiment of the prototype,the correctness of the theoretical analysis is verified.The measured load capacity of the robot is 2.47 times its own weight,and it has great obstacle-crossing ability.展开更多
The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China&#...The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China's first national standard for natural climbing venues,was published in August,and officially came into effect on December 1,2024,and its development and implementation will fill the gap in China's standards for climbing venues.展开更多
To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of...To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.展开更多
With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The...With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.展开更多
The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as...The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.展开更多
Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments...Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.展开更多
Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed st...Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.展开更多
A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in t...A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.展开更多
基金supported by the National Key Research&Development Program of China(Grant No.2020YFB1313504)the State Key Laboratory of Mechanics and Control for Aerospace Structures of Nanjing University of Aeronautics and Astronautics.
文摘Gecko-inspired robots have significant potential applications;however,deviations in the yaw direction during locomotion are inevitable for legged robots that lack external sensing.These deviations cause the robot to stray from its intended path.Therefore,a cost-effective and straightforward solution is essential for reducing this deviation.In nature,the tail is often used to maintain balance and stability.Similarly,it has been used in robots to improve manoeuvrability and stability.Our aim is to reduce this deviation using a morphological computation approach,specifically by adding a tail.To test this hypothesis,we investigated four different tails(rigid plate,rigid gecko-shaped,soft plate,and soft gecko-shaped)and assessed the deviation of the robot with these tails on different slopes.Additionally,to evaluate the influence of different tail parameters,such as material,shape,and linkage,we investigated the locomotion performance in terms of the robot's climbing speed on slopes,its ability to turn at narrow corners,and the resistance of the tails to external disturbances.A new auto-reset joint was designed to ensure that a disturbed tail could be quickly reset.Our results demonstrate that the yaw deviation of the robot can be reduced by applying a tail.Among the four tails,the soft gecko-shaped tail was the most effective for most tasks.In summary,our findings demonstrate the functional role of the tail in reducing yaw deviation,improving climbing ability and stability and provide a reference for selecting the most suitable tail for geckoinspired robots.
基金supported by the National Key R&D Program of China,Topic 4-NUAA(Grant No.2020 YFB1313504)to PM.
文摘Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
基金supported by the Natural Science Foundation of Zhejiang province(Grant Nos.LZ20C150001,LY21C150002)National Natural Science Foundation of China(Grant No.32202583).
文摘The tendril is a climbing organ in cucurbits and functions in physical support and to avoid shading by neighboring vegetation.However,how cucurbits produce tendrils to obtain climbing ability is largely unknown.In this study,tendril phenotypes were investigated during different developmental stages.Our results revealed that tendril growth exhibited an age-dependent pattern in cucurbits.Tendril growth was inhibited,and the tendril was formed as a short tendril[nonfunctional tendril(nonF-tendril),approximately 0.1 cm]during the seedling stage.In contrast,enhanced cell proliferation and cell expansion led to rapid elongation of the tendril during the climbing stage,and the tendril formed as a functional tendril(F-tendril,approximately 30 cm)to obtain climbing ability.RT-qPCR detection showed that age-dependent tendril growth correlated negatively with the abundance of the conserved age regulator CsmiR156.Defoliation induced CsmiR156 to inhibit CsSPLs,and F-tendril formation and climbing ability were delayed in defoliated cucumbers,which confirmed the role of CsmiR156 in regulating tendril growth in vivo.Additionally,exogenous gibberellin(GA)treatment showed that GA positively regulated tendril growth,and RT-qPCR detection showed that the GA bio-synthetic genes and metabolic genes were affected by age pathway,suggesting that the age pathway depended on GA bio-synthetic and metabolic pathway to regulate cell expansion to determine tendril growth.In summary,our work reveals that change in tendril type is an important marker of phase transition in cucumber,and tendril growth is regulated by an intrinsic developmental age signal,ensuring that the cucumber obtains climbing ability at a suitable age.
基金supported by Fundamental Research Program of Shanxi Province[Grant No.202303021221154]the Project of Shanxi Province Graduate Education and Teaching Reform[2022YJJG48]。
文摘Urbanization research is essential for the sustainable use of regional land resources and ecological environment protection.The expansion process and driving factors of urban construction land at different scales in the middle reaches of the Yellow River(MRYR)have not been comprehensively elucidated.In this study,we explored the distribution pattern of urban construction land on different slope gradients at different scales and analyzed its influencing factors.The main findings were as follows:(1)There has been significant expansion of urban construction land in the MRYR over the past 20 years.Spatial heterogeneity was observed in the regional urban construction land expansion process among different geomorphic regions.(2)The urban construction land in the MRYR was expanded vertically to areas with slopes of>5°,particularly in 2005–2010.Significant slope climbing of urban construction land was observed in the loess hilly-gully and rocky mountain areas.(3)In MRYR,68.45%of the counties were categorized as the slope-climbing types,including 37.38%high-slope-climbing types.(4)The regional population density and economic development level were closely associated with regional urban construction land area variability.(5)The climbing process of regional urban construction can effectively alleviate farmland encroachment and pressure on the regional ecological environment.The urban expansion of the metropolitan distribution areas in the Plain region(such as Xi'an,Taiyuan)had a relatively significant impact on the local carbon storage.
基金supported by the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures(No.1005-IZD23002-25)the National Natural Science Foundation of China(No.52205018)+1 种基金the Natural Science Foundation of Jiangsu Province(No.BK20220894)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2023-KF-25).
文摘Wall climbing robots have a wide range of applications in the field of transportation,petrochemicals,aerial construction,and other monitoring prospects;however,for complex defects on the wall,it is easy for the robot to fall off from attachment.This paper puts forward the bionic wheel-tracked rolling adsorption wall-climbing robots.The paper designs flexible material as sealing material for the negative pressure chamber of wall-climbing robots through the imitation of the biological mechanism of the insect adhesion pads.The material has the advantages of wear resistance,strong wall adaptability,large load,simple structure,etc.,and it has a highly reliable and stable adsorption ability on unstructured and complex walls.The mathematical model of adsorption of the wall-crawling robot is constructed in different wall environments,and the kinematic analysis is carried out.The influence of the leakage on the adsorption capacity due to the deformation of the flexible sealing material,defects of the wall surface and the air ducts formed under different roughnesses is analyzed.Through the fabrication and experiment of the prototype,the correctness of the theoretical analysis is verified.The measured load capacity of the robot is 2.47 times its own weight,and it has great obstacle-crossing ability.
文摘The news meeting on GB/T 22517.12-2024,Technical requirements and test methods for sports field-Part 12:Natural sport climbing venue,was held in Yangshuo county,Southwest China's Guangxi.GB/T 22517.12-2024,China's first national standard for natural climbing venues,was published in August,and officially came into effect on December 1,2024,and its development and implementation will fill the gap in China's standards for climbing venues.
基金The National High Technology Research and Development Program of China (863Program) (No.2006AA04Z234)
文摘To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
文摘With the recent decision by the International Olympic Committee to include rock climbing in the 2020 Olympic Games, climbers and coaches are seeking information to enhance training methods and improve performance. The purpose of this study was two-fold:(1) to evaluate climbing-specific fitness and establish percentile rankings among youth climbers;and (2) determine the relationship between fitness and climbing performance. Anthropometrics, fitness, and performance on three indoor bouldering problems ranging in difficulty from V0-V8 were assessed in 64 youth climbers (35 girls, 29 boys) aged 7-17 from the United States. Data are reported by age groups (7-11;12-17 y) and gender. Percentile rankings of fitness scores were computed for girls and boys separately. Analysis of variance was used to compare fitness by age groups and by gender. Regression analysis evaluated the association between climbing performance and fitness. Fitness scores were generally higher among boys than girls, and older vs. younger climbers. Multivariable linear regression revealed that, after adjusting for age, gender, and anthropometrics, fitness variables explained 49% of the variance in performance. Climbing-specific fitness measures previously established on adults are associated with bouldering performance in youth climbers, and therefore may be useful for monitoring progress in training.
文摘The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s^-1.
文摘Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.
文摘Trial mountain climbing algorithm to solve the inverse kinematics problem of redundant manipulator is introduced, and a method of describing a numeral with a special numeration system is given to define the changed step of the trail mountain climbing algorithm. The results show that a likelihood solution can be found quickly in the infinite groups of likelihood solutions within the limited search times, and need not calculate the anti trigonometric function and the inverse matrix. In addition, this algorithm has many good qualities such as concise algorithm, tiny computation, fast convergence velocity, good stability and extensive adaptability.
基金Sponsored byt he Scientific Research Foundation for Returned Overseas Chinese Scholars ,State Education Ministry(20060232001)
文摘A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory.
