A Novel Type of Wall-Climbing Robot with a Gear Transmission System Arm and Adhere Mechanism Inspired by Cicada and Gecko

doi:10.3390/app11094137

	A Novel Type of Wall-Climbing Robot with a Gear Transmission System Arm and Adhere Mechanism Inspired by Cicada and Gecko
	Bian, Shiyuan 1,2; Xu, Feng 1,2; Wei, Yuliang 1,2; Kong, Deyi 1,3
刊名	APPLIED SCIENCES-BASEL
	2021-05-01
卷号	11
关键词	wall-climbing robot gear transmission bionic spine electron microscope images 3D printing technology
DOI	10.3390/app11094137
通讯作者	Kong, Deyi(kongdy@iim.ac.cn)
英文摘要	To support the inspections of different contact walls (rough and smooth), a novel type of wall-climbing robot was proposed. Its design embodied a new gear transmission system arm and an adherence mechanism inspired by cicadas and geckos. The actuating structure consisted of a five-bar link and a gear transmission for the arm stretching, which was driven by the servos. The linkers and gears formed the palm of this robot for climbing on a line. Moreover, the robot's adherence method for the rough surfaces used bionic spine materials inspired by the cicada. For smooth surface, a bionic adhesion material was proposed inspired by the gecko. To assess the adherence mechanism of the cicada and gecko, the electron microscope images of the palm of the cicada and gecko were obtained by an electron microscope. The 3D printing technology and photolithography technology were utilized to manufacture the robot's structures. The adherence force experiments demonstrated the bionic spines and bionic materials achieved good climbing on cloth, stones, and glass surfaces. Furthermore, a new gait for the robot was designed to ensure its stability. The dynamic characteristics of the robot's gear transmission were obtained.
WOS关键词	ADHESION ; FORCE
WOS研究方向	Chemistry ; Engineering ; Materials Science ; Physics
语种	英语
出版者	MDPI
WOS记录号	WOS:000649887900001
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/122638]
专题	中国科学院合肥物质科学研究院
通讯作者	Kong, Deyi
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Sci Isl Branch, Grad Sch, Hefei 230009, Peoples R China 3.Chinese Acad Sci, Innovat Acad Seed Design, Sanya 572024, Peoples R China
推荐引用方式 GB/T 7714	Bian, Shiyuan,Xu, Feng,Wei, Yuliang,et al. A Novel Type of Wall-Climbing Robot with a Gear Transmission System Arm and Adhere Mechanism Inspired by Cicada and Gecko[J]. APPLIED SCIENCES-BASEL,2021,11.
APA	Bian, Shiyuan,Xu, Feng,Wei, Yuliang,&Kong, Deyi.(2021).A Novel Type of Wall-Climbing Robot with a Gear Transmission System Arm and Adhere Mechanism Inspired by Cicada and Gecko.APPLIED SCIENCES-BASEL,11.
MLA	Bian, Shiyuan,et al."A Novel Type of Wall-Climbing Robot with a Gear Transmission System Arm and Adhere Mechanism Inspired by Cicada and Gecko".APPLIED SCIENCES-BASEL 11(2021).