Abstract
Aiming at the inspection of rough stone and concrete wall surfaces, a grasping module of cross-arranged claw is designed. It can attach onto rough wall surfaces by hooking or grasping walls. First, based on the interaction mechanism of hooks and rough wall surfaces, the hook structures in claw tips are developed. Then, the size of the hook tip is calculated and the failure mode is analyzed. The effectiveness and reliability of the mechanism are verified through simulation and finite element analysis. Afterwards, the prototype of the grasping module of claw is established to carry out grasping experiment on vibrating walls. Finally, the experimental results demonstrate that the proposed cross-arranged claw is able to stably grasp static wall surfaces and perform well in grasping vibrating walls, with certain anti-rollover capability. This research lays a foundation for future researches on wall climbing robots with vibrating rough wall surfaces.
Highlights
Climbing robot is a kind of special robot, which can climb and walk on a rough vertical wall or spherical surface
Wall climbing robots, which are a special operation mechanism in extreme environment generally adhere to walls by virtue of negative suckers, permanent magnets, or bio-inspired adhesion [1,2,3,4,5,6]
Based on the analysis of the grasping mechanism of cockroaches, this paper proposed a bio-inspired compliant spiny feet mechanism, and designed the grasping claws module
Summary
Climbing robot is a kind of special robot, which can climb and walk on a rough vertical wall or spherical surface. Lam et al [8] developed a kind of tree-climbing robot with a new flexible movement structure and analyzed the wormlike peristaltic movement to design grippers. They presented an algorithm to increase the motion stability. By analyzing the interaction between hooks and rough wall surfaces, a grasping module of cross-arranged claws is designed, the grasping ability and disturbance resistance of wall climbing robots to rough walls are improved.
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