A bio-inspired climbing robot: design, simulation, and experiments

International Conference on Mechanical, Materials and Renewable Energy

机械制造;材料科学;能源学

Chattopadhyay, P.^1 ; Majumder, A.^2 ; Dikshit, H.^2 ; Ghoshal, S.K.^2 ; Maity, A.^1

Central Mechanical Engineering Research Institute, Durgapur

713209, India^1

Department of Mechanical Engineering, Indian Institute of Technology (ISM), Dhanbad

826004, India^2

关键词: Bio-inspired robots;    Dynamic behaviours;    Engineering problems;    Locomotion patterns;    Magnetic adhesion;    Multi-body dynamic;    Planar mechanism;    Simulated results;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/377/1/012105/pdf
DOI  :  10.1088/1757-899X/377/1/012105

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

The application of bio-inspired robots on various engineering problem has become a fascinating subject. In this field, locomotion pattern of various insects has already been implemented in a notable way. The purpose of this paper is to add the magnetic adhesion principle with a bio-inspired modular robot which mimics the motion of an inchworm. This paper confines the climbing environment in a flat plane and describes a suitable climbing gait for the robot. The robot is modelled as a 4-link planar mechanism with three revolute joints actuated by DC servo motors. A 3D model is prepared and simulated in multi-body dynamics solver to investigate the kinematic and dynamic behaviour of the system. The simulated results provide an idea about the selection of servo motor specifications required to build the prototype.