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

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...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 377; no. 1; pp. 12105 - 12110
Main Authors Chattopadhyay, P, Majumder, A, Dikshit, H, Ghoshal, S K, Maity, A
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.06.2018
Subjects
Biomimetics
D C motors
Gait
Insects
Locomotion
Multibody systems
Robot dynamics
Robots
Servomotors
Simulation
Three dimensional models
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ISSN1757-8981
1757-899X
1757-899X
DOI10.1088/1757-899X/377/1/012105

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Summary: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.
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ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/377/1/012105