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spine wheel

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Development of a Bio-inspired Wall-Climbing Robot Composed of Spine Wheels, Adhesive Belts and Eddy Suction Cup
Jinfu Liu, Linsen Xu, Shouqi Chen, Hong Xu, Gaoxin Cheng, Jiajun Xu
Journal:

Robotica / Volume 39 / Issue 1 / January 2021

Published online by Cambridge University Press:

15 January 2020, pp. 3-22
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A novel wall-climbing robot with multiple attachment modes is proposed. For uneven surfaces, the mechanical model of a spine wheel is brought out to grab the surfaces with its multi-spines. For smooth surfaces, an adhesive belt is obtained by the industrial synchronous belt and the polyurethane material to adhere to the surfaces. To avoid the robot overturning, an adsorption device with flexible skirt edge is presented. In addition, the normal force and motor torque are evaluated respectively. Finally, the prototype of the wall-climbing robot is manufactured and tested, and the experimental results show that the robot could climb the wall surface 0–360° with a maximum load of 0.5 kg.