Adhesive toe for gecko robot and movement method thereof

Abstract

The invention relates to an adhesive toe for a gecko robot and a movement method thereof and belongs to the field of technical application of biomorphic robots. The toe comprises a flexible material toe base (c) and a sticky material layer (a) which is embedded into the flexible material toe base (c), wherein the height of the lower bottom surface of the sticky material layer (a) is equal to that of the flexible material toe base (c); and a spring layer (b) is also formed on the flexible material toe base (c). The toe has three specific structures, namely flat-shaped, semi-arc and arched stereo structures with bending of 180 degrees. According to the characteristic of a special cantilever type structure, the driven mode is adopted, so that the characteristics that the toe has the larger adhesion in one direction and the smaller desorption force in the negative direction are provided, and the mechanical anisotropy characteristics that a gecko has the larger adhesion in the one direction and the smaller desorption force in the negative direction can be simulated fully and are applied to the gecko robot.

Description

technical field [0001] The invention belongs to the application field of bionic robot technology, and in particular relates to a structural design of a gecko-like toe and a method for using the same, which is mainly used in the design of the feet of a gecko-like wall-climbing robot to realize wall-climbing motion. Background technique [0002] Large geckos can move freely and flexibly on different normal surfaces such as the ground, steep walls, and ceilings. The gecko's ability to move has become an object of research and imitation by scientists. Wall-climbing robots can work on dangerous and steep vertical surfaces, and have a wide range of applications in the fields of building outer wall cleaning, ship inspection, and aerospace extravehicular maintenance, so they are valued by various developed countries. Like a gecko, a gecko-like crawling robot that can crawl on vertical walls and ceilings is one of the most advanced hot issues in bionic robots in the world. Adsorpti...

AI Technical Summary

Problems solved by technology

This active adhesion method requires an additional wire-drawing mechanism and an independent wire-drawing drive motor, so the implementation also increases the complexity of the system

[0006] Traditional adhesive materials, because the same adhesive material has the same adhesive performance, the adhesion and detachment force are constant when directly applied, that is, the same magnitude of adhesion and the same magnitude of detachment will occur (It may cause inability to detach after sticking, or it may cause inability to stick at the beginning), which is not conducive to simulating the characteristics of a gecko that has a large adhesion force in one direction and a small detachment force in the opposite direction.

[0007] The above-mentioned active driving wall-climbing method increases the complexity and energy consumption of the system, and the adhesion and desorption forces of magnetic adsorption and negative pressure adsorption are constant, which cannot completely simulate the gecko with a large adhesion force in one direction and a larger adhesion force in the other direction. Orientation has the characteristic of less desorption force

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