Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.
-
date post
21-Dec-2015 -
Category
Documents
-
view
221 -
download
1
Transcript of Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.
![Page 1: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/1.jpg)
Geckobot: A Gecko Inspired Climbing Robot Using Elastomer Adhesives
Climbing robots
![Page 2: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/2.jpg)
Geckobot• The animal: Tokay gecko– 300 gram, 35 cm length
• The most able climber in the vertebrate world• video
![Page 3: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/3.jpg)
![Page 4: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/4.jpg)
The design
• Four bar mechanism
![Page 5: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/5.jpg)
Dynamics of Geckobot climbing
• Upwards/downwards safety region
• Sideways safety region
![Page 6: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/6.jpg)
Dynamics of Geckobot climbing
• Vertical safety region• Sideways safety region• Geckobot length
optimization
![Page 7: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/7.jpg)
Active tail (video)
• Transfer load from front and rear legs via an active tail
![Page 8: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/8.jpg)
GeckoTape
![Page 9: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/9.jpg)
Results
• PDMS elastomer adhesive• Final design:– 100 grams– 190 mm length without the tail– 5 cm/s speed
• Can climb up to 85 degrees and 50 degrees sideways
![Page 10: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/10.jpg)
Geckobot taxonomy
• Waalbot• Tankbot (video)• Wormbot (picture)• …
![Page 11: Geckobot:A Gecko Inspired Climbing Robot Using Elastomer Adhesives Climbing robots.](https://reader035.fdocuments.in/reader035/viewer/2022062407/56649d6d5503460f94a4da96/html5/thumbnails/11.jpg)
Water runner robot
• Video