Contact force self-sensing and adaptive gecko-like feet with active adhesion/detachment

Abstract

The invention relates to an imitated gecko sole capable of self-sensing and self-adapting to a contact force with an initiative sticking / desorbing function and belongs to the field of robot technology application. The imitated gecko sole comprises a shank beam (1), a one-dimensional sensor (2), a wire-pull steering engine bracket (3), a rotating support frame (4), a wire-pull steering engine (5), a rotating flange (6), a two-dimensional force sensor (7), a bulb (8), a fetlock cover, a spring, a toe slice base and a sticking material. The imitated gecko sole can initiatively drive a plurality of toes and can realize an initiative sticking function and an initiative desorbing function; the one-dimensional sensor and the two-dimensional force sensor along different directions are combined and are moved and decoupled together with an initiative sticking and desorbing mechanism, so that the coupling problem of motion and force sensing can be avoided; the fetlock at three degrees of freedom constrained by eight resetting springs is added, so that the space surface has self-adaptive ability.

Description

technical field [0001] The invention belongs to the application field of robot technology, and specifically relates to a contact force self-sensing and self-adaptive imitation gecko foot sole with active adhesion / detachment, which is mainly used in the structural design of micro-adhesive footed robots. Background technique [0002] Geckos can walk on any surface in space. The micro-adhesive legged robot designed by bionics simulates the movement function of gecko, and carried out the experiment of sticking and crawling on the surface of space. This research has important academic value and application prospects. Preliminary applications are carried out in a gravity environment to provide technical support for the on-orbit maintenance services of the space station. At present, domestic and foreign micro and small adhesive footed robots can crawl on the wall, and there are foot / wheel type, foot type, foot / crawler type and other structural forms (C. Menon, M. Sitti, A Biomimeti...

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Problems solved by technology

[0003] Literature (R. Chen, R. Liu, J. Chen and J. Zhang, A Gecko Inspired Wall-climbing Robot Based on Electrostatic Adhesion Mechanism, Proceeding of the IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, pp: 396-401 ,2013.; S. Kim, M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, M.R. Cutkosky, Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, pp:1268-1273, 2007), it is known that similar adhesive robot feet only have a simple detachable cable transmission, do not have active adhesion function, and have surface adaptability and three-dimensional contact force in space. Perception has not been studied

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