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11 May 2020 A flexible spiny structure featuring two anchoring points for enhancing the mobility of wall-climbing robots on rough surfaces
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Abstract
Inspired by the mechanisms of some insects which are capable of climbing and moving freely on various vertical rough surfaces with their claws and accessory components, we presented a new design of a flexible spiny structure called DNspine (a spine with double needles) featuring two anchoring points to enhance the mobility of wall-climbing robots (WCR). Each flexible spine consists of two separate suspension systems so that the near subspines in the flexible spiny structure will not interface with each other. The two-anchoring point design increases the contact area of spiny array to achieve a better attachment for WCRs. The single DNspine and its array were fabricated via fast prototyping. A customized setup using displacement-control method was carried out to characterize the contact performance of the single DNspine as well as its DNspine array. Their adhesion forces were measured on a sandpaper surface. The results show that both the DNspine and the DNspine array are able to increase the spine adhesion significantly compared with a single flexible spine and its array with only one anchoring point on rough surfaces.
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Chao Xie, Xuan Wu, Guisong Chen, and Xiaojie Wang "A flexible spiny structure featuring two anchoring points for enhancing the mobility of wall-climbing robots on rough surfaces", Proc. SPIE 11374, Bioinspiration, Biomimetics, and Bioreplication X, 113740G (11 May 2020); https://doi.org/10.1117/12.2558173
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