Role of Tail Dynamics on the Climbing Performance of Gecko-Inspired Robots: A Simulation and Experimental Study.

IF 3.4 3区医学 Q1 ENGINEERING, MULTIDISCIPLINARY Biomimetics Pub Date : 2024-10-14 DOI:10.3390/biomimetics9100625

Shengchang Fang, Guisong Chen, Tong Liu, Weimian Zhou, Yucheng Wang, Xiaojie Wang

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Abstract

Geckos are renowned for their exceptional climbing abilities, enabled by their specialized feet with hairy toes that attach to surfaces using van der Waals forces. Inspired by these capabilities, various gecko-like robots have been developed for high-risk applications, such as search and rescue. While most research has focused on adhesion mechanisms, the gecko's tail also plays a critical role in maintaining balance and stability. In this study, we systematically explore the impact of tail dynamics on the climbing performance of gecko-inspired robots through both simulation and experimental analysis. We developed a dynamic climbing simulation system that models the robot's specialized attachment devices and predicts contact failures. Additionally, an adjustable-angle force measurement platform was constructed to validate the simulation results. Our findings reveal the significant influence of the tail on the robot's balance, stability, and maneuverability, providing insights for further optimizing climbing robot performance.

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尾部动力学对壁虎机器人攀爬性能的影响：模拟与实验研究

壁虎因其特殊的攀爬能力而闻名于世，它们的脚趾上长满了毛，可以利用范德华力附着在表面上。受这些能力的启发，人们开发了各种类似壁虎的机器人，用于搜索和救援等高风险应用。虽然大多数研究都集中在粘附机制上，但壁虎的尾巴在保持平衡和稳定方面也起着至关重要的作用。在本研究中，我们通过模拟和实验分析，系统地探讨了尾巴动力学对壁虎启发机器人攀爬性能的影响。我们开发了一个动态攀爬仿真系统，该系统可对机器人的专用附着装置进行建模，并预测接触故障。此外，我们还搭建了一个可调节角度的测力平台来验证仿真结果。我们的研究结果表明，尾部对机器人的平衡性、稳定性和机动性有重大影响，为进一步优化攀爬机器人的性能提供了启示。

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