Design of climbing robot's structure inspired by papilio memnon caterpillar

One type of robots that is interesting to develop is climbing robot. In order to create a robot that can move vertically, observation and data gathering on caterpillar's walking movement are needed. FEA simulation was conducted to attain stress distribution pattern of caterpillar's legs. A...

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Bibliographic Details
Published in2017 7th International Annual Engineering Seminar (InAES) pp. 1 - 4
Main Authors Prakoso, Agung, Sriwijaya, Rachmat
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2017
Subjects
caterpillar
climbing
Climbing robots
Grippers
Legged locomotion
robot
Servomotors
simulation
Stress
Turning
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Summary:One type of robots that is interesting to develop is climbing robot. In order to create a robot that can move vertically, observation and data gathering on caterpillar's walking movement are needed. FEA simulation was conducted to attain stress distribution pattern of caterpillar's legs. A simulation was conducted to the climbing robot design to get the stress distribution pattern of each of its legs. The observation result showed that the papilio memnon caterpillar needed seven movements in every single step. The mechanism of its walking movement resembled a wave. The climbing robot's structures was designed to be able to move forward, backward, and to turn.
DOI:10.1109/INAES.2017.8068559