TY - JOUR
T1 - Structure design of gecko robot with compliant shank
AU - Wang, Tianmiao
AU - Meng, Cai
AU - Guan, Shengguo
AU - Pei, Baoqing
PY - 2009/10
Y1 - 2009/10
N2 - A foot-type wall-climbing gecko robot using compliant shanks as body is designed, which uses dry adhesive to absorb. First of all, the structure of foot-type wall-climbing gecko robot based on link is designed by simulating biological gecko, the principle of movement and the degrees of freedom are analyzed, then the structure is simplified. Secondly the corresponding movement gait is designed, the diagonal gait is chosen to make the robot walk on straight line and turn around. Thirdly, to simplify the mechanism and make movement compliant, a compliant shank is used to connect the body parts, according to the calculation of degrees of freedom, the feasibility of mechanism is analyzed and a flat compliant shank is chosen on the basis of statics analysis. Lastly, by simulation using Adams and experiment with virtual machine, the force of every joint can be analyzed. Through making experiment by physical platform, analyzing the sample of the trajectory of robot crawling, the validity and feasibility of the design are verified.
AB - A foot-type wall-climbing gecko robot using compliant shanks as body is designed, which uses dry adhesive to absorb. First of all, the structure of foot-type wall-climbing gecko robot based on link is designed by simulating biological gecko, the principle of movement and the degrees of freedom are analyzed, then the structure is simplified. Secondly the corresponding movement gait is designed, the diagonal gait is chosen to make the robot walk on straight line and turn around. Thirdly, to simplify the mechanism and make movement compliant, a compliant shank is used to connect the body parts, according to the calculation of degrees of freedom, the feasibility of mechanism is analyzed and a flat compliant shank is chosen on the basis of statics analysis. Lastly, by simulation using Adams and experiment with virtual machine, the force of every joint can be analyzed. Through making experiment by physical platform, analyzing the sample of the trajectory of robot crawling, the validity and feasibility of the design are verified.
KW - Biorobot
KW - Compliant mechanism
KW - Gecko
KW - Mechanism design
KW - Virtual machine
UR - https://www.scopus.com/pages/publications/70749154754
U2 - 10.3901/JME.2009.10.001
DO - 10.3901/JME.2009.10.001
M3 - 文章
AN - SCOPUS:70749154754
SN - 0577-6686
VL - 45
SP - 1
EP - 7
JO - Jixie Gongcheng Xuebao/Journal of Mechanical Engineering
JF - Jixie Gongcheng Xuebao/Journal of Mechanical Engineering
IS - 10
ER -