Systematic Procedure for Selection of Candidate Materials for Microspines
摘要
In the past four decades, robots used for transitioning from horizontal to vertical surfaces have implemented electromagnetism, vacuum suction, claws and microspines mechanisms. To ascend on porous surfaces, microspine mechanism is preferred. It is noticed that choosing the right microspine for a given application is complicated and requires repeated empirical testing and analysis. An effort in developing a systematic procedure in choosing a candidate material for the microspine through an experimental setup using test terrains with specifically determined asperity density is the focus of this work.