Research On The Compliant Gecko Inspired Robot

Gecko can climb freely on smooth vertical wall, and it even can quickly move on the ceiling in an emergency. Gecko can control pad's abduction and adduction to finish detachment and adhesion. To design the compliant gecko inspired robot which is more useful in an unknown environment, we simulate gecko's style of movement and adhesion.Firstly, the status of research on gecko robot is introduced and analyzed in detail, and then explain the research significance and content of the compliant gecko inspired robot. Based on the study of anatomy and movement style of the gecko, the overall program design of the compliant gecko inspired robot is presented. In this scenario, the structure of robot is designed which based on quadrangular configuration. There are three degrees of freedom in robot's every leg. The degrees freedom of this structure is analyzed, and then the joint structure is improved for avoiding emerge a great tangential force between adhesion array and surface of the wall. In order to choose the actuator for robot, the force of actuator joints is analyzed by simulation. The body of robot is manufactured using three dimensional printing technique. Secondly, a compliant out bend foot is designed, drawing inspiration from geckos, which uses adhesion array to absorb. Mechanical analysis and computation have been developed on the structure of the foot. The bionic flexible soles inspired foot's motion is controlled using servo motor actuators. Controlling the servo motor by single chip microcomputer, thus to control the bend and flat of foot. Through making experiment physical platform, the bend and flat of foot is feasible.Lastly, the diagonal gait of the compliant gecko inspired robot is designed. The virtual prototype of robot is imported into the MSC.ADAMS and the gait simulation is completed. The simulation shows that diagonal gait is feasible. The hardware system and control program is designed. The Atmega64 single chip microcomputer is used to control core. The basic peripheral circuit is designed. Control program is designed according to the diagonal gait. The control program is improved appropriately after the experiment. After the improved, the experiment shows that the robot can climb a 30 degree slanted surface.