The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomotion configurations to move through varying environments. The leg of the robot, inspired by insects, was designed as a multi-link structure, including the Hoekens linkage and multiple parallel four-link mechanisms. The end trajectory was a symmetrical closed curve composed of an approximate straight line and a shell curve with a downward opening. The special trajectory allowed the robot to share drives and components to achieve structural deformation and locomotion. The structural characteristics of the crawl robot on the inner and outer arcs were obtained based on the working space. The constraint relationship between the structure size, the radius of the arc, and the coefficient of static friction with which the robot could crawl on the arc were established. The feasible support posture and support position of the robot under different arc radii were obtained. The simulation tested the locomotion of the robot on the plane, arc, and restricted space. The robot can be used for detection, search, and rescue missions in unstructured environments.
Background: Geckos are endowed with the extraordinary capacity to move quickly in various environments; they benefit from efficient control for the complex footpads. Research on the locomotor behavior and contact status in the attachment–detachment (A-D) cycle of the footpads for diverse challenges is linked to the revelation of regulatory strategy. At present, there is a lack of systematic research for the A-D cycle, which limits the understanding of the adhesive locomotion mechanism.Methods: The A-D cycle that facilitates the level and up–down locomotion on inclined and vertical surfaces of Gekko gecko was investigated to clarify the locomotion postures and durations in the release, swing, contact, and adhesion stages, respectively. This reveals the relationship between the structure and function of the attachment devices, and its regulation when faced with changing locomotion demands.Results: Despite changes in climbing demands, gecko foot locomotion posture (angle extremes and changing trends) in the swing stage, the posture (bending angle: fore 41°, hind 51°) and contact time ratio (7.42%) in the contact stage remain unchanged, which is in contrast with the adjustable postures in the stance phase. Furthermore, the variation range of the forefoot locomotion posture is larger than that of the hindfoot, and the forefoot angle changing trend is opposite to that of the hindfoot, indicating that the combination of anatomical structure and functional demands results in the differentiation in the adaptation mode of the A-D cycle for the fore- and hindfoot. Conclusions: Gecko’s fore- and hindfoot have evolved different structures to undertake differential functions. The function (adhesion) for various locomotion demands relates to footpad deployment in the stance phase but is unaffected by the regulations (postures and durations) in the swing and contact stages. The results demonstrate that the unified adaptation strategy reduces the diversity and complexity of the control. It advances the understanding of the adhesive locomotion mechanism, reflects the structural evolution and adaptation strategy of attachment devices for functional requirements and provides biological inspiration for effective design and control of adhesion robots.
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