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This paper proposes a hierarchical model of the Tokay gecko's (Gekko gecko) setal system. Based on Euler's elastica theory, the inextensible fibrillar model of the seta is established, taking the thousands of terminating spatulae into account. The directional adhesion of the seta with different slanted angle of the adhesive pad and spatula pad is studied. The elastic energy and the binding energy...
Eccentric paddle mechanism based on epicyclic gear mechanism (ePaddle-EGM) is a novel locomotion mechanism designed for amphibious robot. The epicyclic gear mechanism is the key component of ePaddle-EGM to perform multiple gaits. In this paper, efficiency of the epicyclic gear mechanism is analyzed. Via the virtual power flow, we characterize how the efficiency relates with the velocity ratio and...
The posture-adjustable turntable is playing an important part in testing equipments and other industrial devices. As well known, universal joint is employed to couple two parts that are aligned with a certain angle to transmit torque and speed. There are three major parts in a U-joint: active hinge, cross shaft, and passive hinge. Power is transmitted from the active hinge to the passive hinge via...
To figure out the limitation of enough power resource or energy supplied in Antarctic expedition, this paper presented a large-size spherical robot which can drive by internal power and wind. It consists of a 2-DOF pendulum inside the shell, rotating with transverse and longitudinal axis. Due to the non-holonomic restraint of motion, for smooth and steady control, the spherical robot is designed to...
In this paper we introduced a unidirectional joint with adjustable stiffness (UJAS) for legged robot applications. It allowed the robotic leg to change dynamic property by tuning joint parameters. The joint was designed to provide large compliant motion range and sufficient energy storage capacity for passive gaits. In order to avoid undesired leg vibration during flying phase we brought about the...
Any kind of the under-actuated robotic finger traditionally has only one grasping mode, and each grasping mode is only suited for some situations but not for others. In this paper, a novel switchable under-actuated finger with multiple grasping modes, the SUA finger is proposed. Four typical grasping modes can be switched at any time freely. Two motors, multiple bevel gears, a flexible cable and two...
Eccentric paddle mechanism (ePaddle) is a novel locomotion mechanism designed for amphibious search and rescue tasks. The ePaddle is able to enhance the mobility of amphibious robots for multi-terrains tasks. Based on the principle of ePaddle and the experiments on the prototype, an improved mechanism named ePaddle-EGM is proposed in this paper. The ePaddle-EGM is based on the epicyclic gear mechanism,...
According to its motion input and output characteristics of the repeated foldable wheel, a set of systematic design method is put forward. Based on the motion characteristics and functions of the repeated foldable wheel, its three modules is named. The folding-unfolding wheel module is synthesized on configuration synthesis method, design concept of the wheel, mechanism superposition and graph theory...
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