A gecko inspired wall-climbing robot based on electrostatic adhesion mechanism

摘要

In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic gait design of the gecko and the unique properties of electrostatic adhesion mechanism, the robot has advantages of light weight, low energy consumption, flexible movement and high adaptability to different wall surfaces. Climbing experiments on the surface of a high-rise glass window are demonstrated, and the robot can achieve straight climbing and turning robustly and agilely. The potential applications of this robot are reconnaissance, inspection, cleaning and repairing.