Design of Track-Based Climbing Robots Using Dry Adhesives

Abstract

This poster focuses on the design of track-type climbing robots using dry adhesives to generate tractive forces between the robot and climbing surface to maintain equilibrium while in motion. When considering the design of these climbing robots, there are two primary elements of focus: the adhesive mechanisms at the track-surface interface and the distribution of these forces over the full contact surface (the tracks). This poster will demonstrates and shows the validation of models for two specific adhesives – unpatterned elastomeric dry adhesives and micro suction cup tape – and presents an approach to integrate these adhesion models and track suspension systems into a complete model that can be used to design general climbing robot systems.