Tırmanan Robotlar İçin Fiber Modellemesi ve Karakterizasyonu

Abstract

The neccesity to climbing robots is triggered by many problems. High risk involved works which are carried out by humans require high cost and risk of human’s life. For example building climbing stages and similar structures require high cost and cause loss of time. For these reasons, climbing robots carry out these tasks assigned to them with a lower cost in less time without building any stages. Although engineer’s strong efforts, fibers haven’t been produced with the same adhesion force and the hierarchical structures as in the nature but important steps have been taken about fabrication of fibers. The reasons of using fibers for climbing robots are; increasing individual adhesion force with the help of adapting to rough surfaces and minimizing the dirt collection of fibers. In this thesis; subjects such as fiber length, fiber diameter and distance between fibers are optimized with numerical modelling, fiber material is defined and fibers arrangement configuration is optimized. Test setup has been made for testing the adhesion performance of fibers. Fiber’s adhesion tests are performed regarding to the preload and results are compared with the models. Modelling and tests are made for foam wheels which can be used to increase fiber contact area on the robot wheels. In addition, adhesion model for a rigit wheel is designed to find out the acquired adhesion force from a rigid wheel.