Abstract
Climbing robots have been widely used to inspect smooth walls. However, a good adsorption method has not been found for the inspection of a cliff surface and a dusty high-altitude surface with small vibration, both of which are made of coarse concrete, square brick, or rock. In this article, first, we analyzed the bionic structure of the cockroach legs and observed their morphological characteristics of the spiny claws on these legs. We also studied the interaction theory of the bionic claw with the bulges on the rough wall surfaces and deduced the mechanical criteria of the claws grabbing steadily these bulges. Then, an initial mechanical structure of a wall-climbing robot was proposed based on a grasping claw and a climbing model. Furthermore, a mathematical model was established to reflect the relationship between sharp hooks and bulges on the rough wall. Finally, we performed several laboratory experiments to verify the grasping stability.
Highlights
Construction accidents have occurred in recent years, causing serious damage such as collapse of bridges
The interaction theory between the claw and the microprotuberance on the rough wall was studied according to the bionic structure of the spines on the cockroach legs
If the individual claw tip was detached from the wall surface, the separated hook tip could rapidly seek the second grabbing point for the secondary grasping under the effect of low stiffness spring
Summary
Construction accidents have occurred in recent years, causing serious damage such as collapse of bridges. Keywords Hooked claw, flexible grasping claws, bionic structure, climbing robot The researchers found that the hook on the front end could grasp the concave and convex points of the rough wall, the robot was hanged on the wall surface to climb during the bending process of the three tarsals on the claw.
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