Research on Landing Collision Experiment of Gecko Robot with Bio-inspired Dry Adhesive Foot

摘要

The adhesion robot has better adhesion performance in a vacuum than others, such as magnetic absorption robot and vacuum adsorption robot. It has broad application prospect and far-reaching practical significance in the field of space On-Orbit Servicing Robots. The stability motion of the adhesion robot on a flat surface has been studied in depth, but the problem of the impact force between the adhesion robot and the flat surface when landing on the surface, which is an inevitable problem that the adhesion robot lands on the flat surface and achieve stable, has been researched little. Therefore, this article has researched about the impact process between adhesion robots and flat surfaces. An impact experiment about the bionic foot was performed on a self-built experimental platform. It reveals the state of motion and the changes of the force between the bionic foot and the flat surface at the moment of impact. The conclusions have been verified on the gecko-inspired robot, and are of great significance for the future adhesion robot to achieve a stable landing on a target surface.