A Wheeled Wall-Climbing Robot with Bio-Inspired Spine Mechanisms
A Wheeled Wall-Climbing Robot with Bio-Inspired Spine Mechanisms作者机构：Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing and Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2015年第12卷第1期
页 面：17-28页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：Acknowledgment This work was supported by National Basic Re- search Program of China (No.2011 CB302106) National Natural Science Foundation of China (No. 51005223) and Changzhou Science and Technology Support Pro- gram (CE20120081). The authors would like to thank Dr Xiaojie Wang for his valuable advice and kind help in preparing this manuscript
主 题：biologically-inspired robots climbing robots compliant spine mechanisms mechanical model wheeled robots
摘 要：This paper presents a wheeled wall-climbing robot with the ability to climb concrete, brick walls using circular arrays of miniature spines located around the wheel. The robot consists of two driving wheels and a flexible tail, just like letter “T, so it is called Tbot. The simple and effective structure of Tbot enables it to be steerable and to transition from horizontal to vertical surfaces rapidly and stably. Inspired by the structure and mechanics of the tarsal chain in the Serica orientalis Motschulsky, a compliant spine mechanism was developed. With the bio-inspired compliant spine mechanism, the climbing performance of Tbot was improved. It could climb on 100° （10° past vertical） brick walls at a speed of 10 cm·s^-1. A mechanical model is also presented to analyze the forces acting on spine during a climbing cycle as well as load share between multi-spines. The simu- lation and experiment results show that the mechanical model is suitable and useful in the optimum design of Tbot.
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