TY - GEN
T1 - Bat Feet-Inspired Gripper
T2 - 6th International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2024
AU - Li, Jiabao
AU - Jin, Xueying
AU - Dong, Guiyu
AU - Xu, Kun
AU - Tian, Yaobin
AU - Ding, Xilun
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper presents a reconfigurable docking mechanism inspired by the tendon-locking mechanism of bat claws. Designed for the rapid assembly and disassembly of robots, the mechanism aims to overcome challenging terrains for ground robots, enhancing their mobility. Utilizing parallel elastic structures, the mechanism replicates the biomechanics involved in the opening and closing of a claw. Locking and unlocking are achieved through a variable-topology ratchet and groove system. We delve into the biomimetic principles of bat hanging-locking and present a comprehensive discussion on the intricate design of the docking mechanism, supported by simulation and experimental results. Successful experiments validate that the docking mechanism fulfills design requirements, effectively rectifying docking errors and offering an efficient solution for mobile robots' rapid assembly and disassembly.
AB - This paper presents a reconfigurable docking mechanism inspired by the tendon-locking mechanism of bat claws. Designed for the rapid assembly and disassembly of robots, the mechanism aims to overcome challenging terrains for ground robots, enhancing their mobility. Utilizing parallel elastic structures, the mechanism replicates the biomechanics involved in the opening and closing of a claw. Locking and unlocking are achieved through a variable-topology ratchet and groove system. We delve into the biomimetic principles of bat hanging-locking and present a comprehensive discussion on the intricate design of the docking mechanism, supported by simulation and experimental results. Successful experiments validate that the docking mechanism fulfills design requirements, effectively rectifying docking errors and offering an efficient solution for mobile robots' rapid assembly and disassembly.
UR - https://www.scopus.com/pages/publications/85202353028
U2 - 10.1109/ReMAR61031.2024.10617980
DO - 10.1109/ReMAR61031.2024.10617980
M3 - 会议稿件
AN - SCOPUS:85202353028
T3 - Proceedings - 6th International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2024
SP - 205
EP - 210
BT - Proceedings - 6th International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 June 2024 through 26 June 2024
ER -