关键词: 壁虎, 仿生机器人, 结构设计, 柔性机构, 虚拟样机

Abstract: A foot-type wall-climbing gecko robot using compliant shanks as body is designed, which uses dry adhesive to absorb. First of all, the structure of foot-type wall-climbing gecko robot based on link is designed by simulating biological gecko, the principle of movement and the degrees of freedom are analyzed, then the structure is simplified. Secondly the corresponding movement gait is designed, the diagonal gait is chosen to make the robot walk on straight line and turn around. Thirdly, to simplify the mechanism and make movement compliant, a compliant shank is used to connect the body parts, according to the calculation of degrees of freedom, the feasibility of mechanism is analyzed and a flat compliant shank is chosen on the basis of statics analysis. Lastly, by simulation using Adams and experiment with virtual machine, the force of every joint can be analyzed. Through making experiment by physical platform, analyzing the sample of the trajectory of robot crawling, the validity and feasibility of the design are verified.

Key words: Biorobot　Gecko　Mechanism design　Compliant mechanism　Virtual machine