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Appl. Sci. 2018, 8(1), 14; https://doi.org/10.3390/app8010014

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

1
School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
2
College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
*
Author to whom correspondence should be addressed.
Received: 16 November 2017 / Revised: 12 December 2017 / Accepted: 21 December 2017 / Published: 22 December 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)
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Abstract

Aiming at the inspection of rough stone and concrete wall surfaces, a grasping module of cross-arranged claw is designed. It can attach onto rough wall surfaces by hooking or grasping walls. First, based on the interaction mechanism of hooks and rough wall surfaces, the hook structures in claw tips are developed. Then, the size of the hook tip is calculated and the failure mode is analyzed. The effectiveness and reliability of the mechanism are verified through simulation and finite element analysis. Afterwards, the prototype of the grasping module of claw is established to carry out grasping experiment on vibrating walls. Finally, the experimental results demonstrate that the proposed cross-arranged claw is able to stably grasp static wall surfaces and perform well in grasping vibrating walls, with certain anti-rollover capability. This research lays a foundation for future researches on wall climbing robots with vibrating rough wall surfaces. View Full-Text
Keywords: grasping claws; bionic climbing robot; cross-arranged claw; rough wall surface; finite element analysis grasping claws; bionic climbing robot; cross-arranged claw; rough wall surface; finite element analysis
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Jiang, Q.; Xu, F. Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis. Appl. Sci. 2018, 8, 14.

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