WALL CLIMBING ROBOT
Seok Kim's Lab
- Robotic mechanism designs to test the applicability of SMP (shape memory polymers) in wall climbing scenarios
- Versions 1~3 helped to identify the downside of SMP and the necessary future improvements for use in robotic systems
Custom made acrylic frames. Excessive friction and lack of motor power. Timing belt and pulleys could not transmit power so well.
Servocity parts. Thin perforated aluminum frames to reduce overall weight. Less friction, higher motor power, chain and sprocket transmission enabled smooth motion on the ground. Difficulty in making conformal contact of SMP, solving toggle point issue, and controlling the balance between required preload, motor power, and peeling force.
Worm gear set reduces volume, reduces speed, and increases torque by 27 times. Smaller size and lighter overall weight. More powerful motor.