A Spiny Climbing Robot with Dual-Rail Mechanism.

Easy detachment is as important as reliable an attachment to climbing robots in achieving stable climbing on vertical surfaces. To deal with the difficulty of detachment occurring in wheeled and track-type climbing robots using bio-inspired spines, a novel climbing robot utilizing spiny track and dual-rail mechanism is proposed in this paper. The spiny track consists of dozens of spiny feet, and the movement of each spiny foot is guided by the specially designed dual-rail mechanism to achieve reliable attachment and easy detachment. First, the design of the climbing robot and the dual-rail mechanism are presented. Then, the dual-rail model is constructed to analyze the attaching and detaching movements of the spiny feet, and a mechanical model is established to analyze the force distribution on the spiny track. Finally, a robot prototype is developed, and the analysis results are verified by the experiment results. Experiments on the prototype demonstrated that it could climb on various rough vertical surfaces at a speed of 36 mm/s, including sandpaper, brick surfaces, concrete walls with pebbles, and coarse stucco walls.