Biomimetic wall-climbing robots:Research foundation,key technologies and development forecasts
With the advancement of technology and social development,there is an increasing demand for working in high-risk and extremely harsh environments such as confined spaces,high altitudes,and vertical surfaces,etc.Traditional manual operations carry numerous risks in these environments,making it urgent to develop a wall-climbing robot that can replace human labor.With its characteristics of light weight,compact size,and wide applicability,a biomimetic wall-climbing robot has become an effective solution to address this issue.Biomimetic wall-climbing robots are an important branch in the field of wall-climbing robots.By mimicking the attachment methods of animals such as geckos,tree frogs,and cicadas,and combining them with appropriate locomotion mechanisms and motion control strategies,these robots can achieve flexible movement on vertical surfaces and even inverted planes.These biomimetic robots have natural and significant advantages in terms of environmental adaptability,maneuverability,and energy supply for locomotion.Compared to traditional wall-climbing robots that rely on magnetic,and vacuum adhesion,biomimetic wall-climbing robots are not strictly limited by surface materials and can adapt to various materials and surface types,such as rough/smooth and planar/curved surfaces.They hold significant theoretical and application values.The research was highly integrated with animal biomimicry and machine intelligence,involving biology,bionics,mechatronics and communication technology,and is a frontier area of multidisciplinary integration.These robots are expected to perform tasks that are not possible for humans or traditional wall-climbing robots.It can be used in the aerospace field for spacecraft inspection,maintenance,and other tasks.In the field of disaster rescue,it can conduct search and rescue operations in hazardous buildings or underground spaces.In the industrial field,it can be widely used for environmental surveys and detection of enclosed and narrow spaces.In scientific research,it can serve as a research tool to explore the mysteries of biological adhesion and regulation.In this paper,we elucidate the climbing phenomena in nature,and briefly summarize the intrinsic adhesion mechanisms of dry adhesion,wet adhesion,clawed attachment and synergistic adhesion of typical animals.Departing from the three key technologies of biomimetic adhesion mechanisms,locomotion mechanisms,and motion control methods for biomimetic wall-climbing robots,a systematic overview of the significant research achievements in biomimetic wall-climbing robots over the past two decades is provided.On this basis,we categorize and analyze adhesion and locomotion methods of biomimetic wall-climbing robots,as well as the future development of different combinations.Furthermore,an evaluation of the degree of biomimicry in existing biomimetic wall-climbing robots is conducted from a bionic perspective,and conclusions are drawn.Last but not least,to effectively play the role of biomimetic wall-climbing robots and meet the needs of practical applications,the paper outlines a framework for future research on biomimetic wall-climbing robots based on the bottlenecks in robots adhesive technology and summarizes and analyzes the future development for biomimetic wall-climbing robots from six aspects,including research on the influence of other mechanisms such as frictional electricity on animal adhesion;the transition of biomimetic attachment design from singularity to collaboration and modularity;the application of intelligent material driving methods with multiple physical fields;the dynamic reconstruction and rigid flexible coupling locomotion mechanism design;the highly intelligent control method that integrates environmental awareness,autonomous decision-making,and multi-information fusion and the engineering and practical application prospects of biomimetic wall climbing robots,which provides a reference for future technical improvement and performance enhancement for the biomimetic wall-climbing robots.
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