Shifting allometry: combination of macroscopic engineering with microscopic biomimetics allows realization of new robot functions in meso dimension

摘要

Motion in our macroscopic world is ruled by mass-related, volumetric forces, mostly provoked by inertia and gravity. In minor dimensions, surface forces gain growing importance. Downscaling of robots thus offers new opportunities for design. Volumetric forces minimized by light-weight construction combined with maximized forces in the contact area to the environment using micro-scale phenomena allow the realization of new functions in meso scale, which are not accessible by standard macroscopic construction approaches. To illustrate this strategy, we introduce as well an example for the construction of a machine element (an adhesion module usable as a gripper, on the one hand for manipulation, on the other for locomotion) as that of a complete climbing robot.