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Design and Realization of a Flexible Claw of Rough Wall Climbing Robot

Based on the research of foot characteristics of insecta, a climbing robot’s mechanical structure and kinematics are analyzed, and the main crawling institutions was designed by a kind of bionic four-bar linkage. Claws are made of sharp spines, claws are composed of a number of toes which are flexible structure with local degrees of freedom, they have a grate adaptivity to the rough wall. We have studied the characteristics of the rough wall climbing, and made analysis affection of reliability with the angle perched on. The experimental study indicates spine planning and structure design, material selection are reasonable.