| Most of the foot type claw wall climbing robot use the bionic one-way claws to make the robot crawl up in the vertical rough surface.However,it is impossible to rely on the one-way claws for horizontal or downward crawling on the vertical rough surface.For some insects in nature,they use the foot claw and the spine in tarsi to grasp inward in some extreme cases.We designed bionic grasping claw and studied its mechanism according to this characteristic.And the grasping claw was applicated in hexapod climbing robot.Firstly,Spherical contact model of the grasping claw tip on the vertical and inverted rough surface have been established.The effect of contact angle,friction coefficient and other factors on the grasping performance have been analyzed.The grasping model of a pair of claw has been established,and we analyzed the influence factor affecting the grasping performance of grasping claw.The grasping claw structure can be designed,and we have researched the influence of the number of grasping claw foot on grasping performance through the experiment.We analyzed the influence of different shapes of grasping claw foot on grasping performance through the grasping force test of different shapes of grasping claw foot.The design of flexible grasping claw foot was applied to the grasping claw structure,which was applied to the hexapod climbing robot as the foot.Kinematics simulation of the hexapod climbing robot which was designed with a parallelogram frame structure has verified the stability of the robot crawling horizontally in the vertical surface.And the hexapod claw climbing robot which could crawl in the vertical surface at any angle was made to verify the reliability of the robot design and the grasping stability of the grasping claw. |
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