Bio-inspired single-driver multi-motion modes wall climbing robot

The robots based on bionic geckos and inchworms are more flexible and more adaptable than other mobile robots. However, most of the existing bionic wall climbing robots have problems with multiple drives and complex control. By studying gecko and inchworm, a single-driver multi-motion mode wall climbing robot (SMWR) is proposed. The proposed robot uses an active driver to drive each legs. First, its minimum adhesion force when climbing on a wall is calculated and the inchworm motion pattern is analyzed when it moves rapidly. Second, the different sequences of the foot tip and the overall motion of the robot under the imitation gecko gait is determined, and the ability of SMWR to cross and turning is deduced. Finally, a wall climbing robot prototype is constructed. The robot proposed in this paper can replace manual work to achieve more lasting work, such as high-altitude glass cleaning and so on.