Design and Validation of Payload: Weight for a Bioinspired Inch Worm Wall Climbing Robot (IWWCR) Using Coppeliasim

摘要

In this growing era technology robots are replacing the humans by performing many risky operations enhancing the safety factor of human life. Particularly while considering performing task at high rise building or any high-altitude jobs, the need of wall climbing robot emerges. There are various types of wall climbing robot classified based on its adhesive mechanism and locomotive methods. Out of the various available method, Bioinspired type Robot has its own unique feature specifically when we talk about softbot. Bio inspired robots mimics the locomotion or any other specific feature of living creatures In this paper, an novel approach is introduced for design and development of a Bio inspired Wall Climbing Robot (WCR) using a simulation software named Coppelialsim. An inch worm wall climbing robot is proposed mimicking the locomotion of inch worm is proposed as novel design. The design of the proposed WCR is validated with respect to payload(p): weight (w) value using the static and dynamic analysis both in simulation environment using coppeliasim software and real time experimental testing after fabrication. The flow of electromagnetic flux is further justified with the software called Finite Element Magnetic Method (FEMM) and the structural design of the proposed design is validated with respect to the Computer Aided Analysis (CAA) software. Thus, the proposed IWWCR possess the high p: w value when compared to all other existing bioinspired Wall climbing Robot