Jixie chuandong (Aug 2019)
Design and Analysis of an Inchworm-Inspired Wall-Climbing Robot
Abstract
Aiming at the application requirements of climbing on rough walls and ceilings, an inchworm-inspired wall-climbing robot is proposed. The robot adopts a locomotion mode similar to that of an inchworm. Its two feet attach on the wall surfaces alternatively, and its body flexes and stretches to complete the forward, backward and wall transition movements. The grasping principle of the inchworm feet is analyzed and the bionic spiny gripper is designed. The statics and kinematics analysis of the robot during climbing process are carried out. The robot prototype is developed and several climbing experiments and tests are carried out. The results show that the inchworm-inspired wall-climbing robot can climb on rough walls and ceilings with the ability of transition between walls.
