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.