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2020 | OriginalPaper | Chapter

A Bio-inspired Climbing Robot: Dynamic Modelling and Prototype Development

Authors : Asesh Patra, Meet Patel, Priyabrata Chattopadhyay, Anubhab Majumder, Sanjoy Kumar Ghoshal

Published in: Recent Advances in Mechanical Engineering

Publisher: Springer Singapore

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Abstract

The utilization of bio-inspired robots on various growing issues has turned into an interesting subject. This paper presents a novel bio-inspired climbing robot which imitates the locomotion of an inchworm. The robot contains four indistinguishable modules associated with three revolute joints. At present, the climbing environment is confined to a ferromagnetic flat plane by providing switchable electromagnets to the front and rear modules. The dynamic analysis is performed using both Lagrange model and bond graph model, and a comparative study is carried out. The results obtained from the dynamic analysis are further used to estimate the essential joint torques required for actuator sizing. Finally, the prototype has been developed and the predefined inchworm gait is successfully implemented.

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Metadata
Title
A Bio-inspired Climbing Robot: Dynamic Modelling and Prototype Development
Authors
Asesh Patra
Meet Patel
Priyabrata Chattopadhyay
Anubhab Majumder
Sanjoy Kumar Ghoshal
Copyright Year
2020
Publisher
Springer Singapore
Book
Recent Advances in Mechanical Engineering

Print ISBN: 978-981-15-1070-0

Electronic ISBN: 978-981-15-1071-7

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-981-15-1071-7_17

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