论文标题
使用生物启发的软爪迈向微型机器人的光滑网眼
Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws
论文作者
论文摘要
尽管大多数微型机器人在崎and的地形上遇到困难，但甲虫可以在复杂的底物上平稳行走而不会滑倒或粘在地面上，因为它们的刚度可变的tarsi和可在Tarsi尖端上的可扩展钩子。在这项研究中，我们发现甲虫会积极弯曲并定期扩大爪子，以在网状表面上自由爬行。受甲虫的爬行机理的启发，我们设计了一个8厘米的微型攀岩机器人，以与天然甲虫相同的环状方式打开和弯曲，以打开和弯曲。机器人可以在网格表面上以可控步态自由攀爬，陡峭的倾斜度为60°，甚至过渡表面。据我们所知，这是第一个可以同时攀登网状表面和悬崖倾斜的微型机器人。
While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline.
