Design of climbing robot's structure inspired by papilio memnon caterpillar

Abstract

One type of robots that is interesting to develop is climbing robot. In order to create a robot that can move vertically, observation and data gathering on caterpillar's walking movement are needed. FEA simulation was conducted to attain stress distribution pattern of caterpillar's legs. A simulation was conducted to the climbing robot design to get the stress distribution pattern of each of its legs. The observation result showed that the papilio memnon caterpillar needed seven movements in every single step. The mechanism of its walking movement resembled a wave. The climbing robot's structures was designed to be able to move forward, backward, and to turn.