Bionic Mechanical Gecko, Tendon (flexible Cable)-driven Theoretical Studies And Preliminary Applications

Today, there are two adsorption methods for wall climbing robot, vacuum adsorption and magnetic adsorption. Vacuum adsorption ask that wall surface have certain smooth degree, the ability of getting over barrier is poor. Magnetic adsorption can only be applied to the wall which surface is magnetic conductor. So, it is necessary to develop wall climbing robot which can adsorb to all kinds of surface stably and can move neatly. Gecko can walk on smooth wall freely, even stick to ceiling. So it is important and meaningful to study the movement enginery and apparatus configuration and to develop machine gecko. In order to master the macrocosmic properties of machine gecko, multi body system model of machine gecko is presented in this article. Multi body dynamic model with closed loop is obtained after kinematic and dynamic analysis about this model, this is the base of sample manufacturing and controlling. The stably adsorption is studied through drawing an analogy to robot hand grasp. Balance conditions of machine gecko are obtained after static analysis using screw theory. The actuator is set in the joint axis in traditional arm, this increased the arm inertia, the dynamical property of robot is poor. If put the actuator on base, and transfer the movement and force to joints through tendons(cable),the weight and size of arm can be decreased. Furthermore, consider from bionics, tendon(cable) -driven is more closed to the movement and force transfer mode of lives using muscles. The application of tendon(cable)-driven mechanism in biomechanical robot arm is discussed. The application of tendon(cable)-driven mechanism is broad, the study and application status are summed-up in this article. Construct design is done aimed at the using in wind tunnel. Workspace is analyzed creatively using orthocomplement method, the force of tendon(cable),stiffness conditions and error compensation are also studied. This established foundations for the application of cable-driven parallel mechanism in wind tunnel.