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research-article

Design, Modeling and Experimentation of a Bio-Inspired Miniature Climbing Robot with Bilayer Dry Adhesives

[+] Author and Article Information
Audelia Gumarus Dharmawan

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
audelia@sutd.edu.sg

Priti Xavier

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
priti.xavier@gmail.com

Hassan Hussein Hariri

Mechanical and Mechatronic Engineering, Rafik Hariri University, Mechref, Lebanon
haririhh@rhu.edu.lb

Gim Song Soh

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
sohgimsong@sutd.edu.sg

Avinash Baji

Department of Engineering, La Trobe University, Bundoora, VIC 3086
a.baji@latrobe.edu.au

Roland Bouffanais

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
bouffanais@sutd.edu.sg

Shaohui Foong

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
foongshaohui@sutd.edu.sg

Hong Yee Low

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
hongyee_low@sutd.edu.sg

Kristin Wood

Engineering Product Development, Singapore University of Technology and Design, Singapore 487372
kristinwood@sutd.edu.sg

1Corresponding author.

ASME doi:10.1115/1.4042457 History: Received October 06, 2018; Revised December 21, 2018

Abstract

This paper presents the design, modeling, and analysis of the force behavior acting on a wheel-legs (whegs) type robot which utilizes bilayer dry adhesives for wall-climbing. The motion of the robot is modeled as a slider-crank mechanism to obtain the dynamic parameters of the robot during movement. The required forces and moment to maintain equilibrium as the robot is in motion is then extensively analyzed and discussed. Following the analysis, fundamental measures to attain an operative climbing robot, such as adhesive requirement and torque specification, are then identified. The outcomes of the analysis are verified through experiments and working prototypes that are in good agreement with the design guidelines.

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