ANALYSIS, DESIGN AND EXPERIMENTS OF A ROUGH WALL CLIMBING ROBOT BASED ON GRABBING CLAWS

In this study, we analyzed the bionic structure of cockroach legs and observed the morphological characteristics of the hooks on cockroach legs in reference to structural bionic principles. We investigated the interaction mechanism of the bionic hook with the bulges on rough surfaces and deduced the mechanical conditions of the hook stably grabbing the wall bulges. Then, we presented an initial design of a wall-climbing robot based on a grabbing claw and proposed a climbing model. Furthermore, we performed several experiments to demonstrate the grasping stability. The grasping claw of the climbing robot can offer a more reliable way of adsorption for complicated rough surfaces.