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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2504.05351 |
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| _version_ | 1866918097919672320 |
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| author | Li, Siqian Wang, Xi Chang, Jung-Che Dong, Xin |
| author_facet | Li, Siqian Wang, Xi Chang, Jung-Che Dong, Xin |
| contents | In recent years, miniature wall-climbing robots have attracted widespread attention due to their significant potential in equipment inspection and in-situ repair applications. Traditional wall-climbing systems typically rely on electromagnetic, electrostatic, vacuum suction, or van der Waals forces for controllable adhesion. However, these conventional methods impose limitations when striving for both a compact design and high-speed mobility. This paper proposes a novel Vibration-Based Adhesion (VBA) technique, which utilizes a flexible disk vibrating near a surface to generate a strong and controllable attractive force without direct contact. By employing an electric motor as the vibration source, the constructed VBA system was experimentally evaluated, achieving an adhesion-to-weight ratio exceeding 51 times. The experimental results demonstrate that this adhesion mechanism not only provides a high normal force but also maintains minimal shear force, making it particularly suitable for high-speed movement and heavy load applications in miniature wall-climbing robots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05351 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design and Characterization of a Micro-Vibration Adhesion System Li, Siqian Wang, Xi Chang, Jung-Che Dong, Xin Robotics In recent years, miniature wall-climbing robots have attracted widespread attention due to their significant potential in equipment inspection and in-situ repair applications. Traditional wall-climbing systems typically rely on electromagnetic, electrostatic, vacuum suction, or van der Waals forces for controllable adhesion. However, these conventional methods impose limitations when striving for both a compact design and high-speed mobility. This paper proposes a novel Vibration-Based Adhesion (VBA) technique, which utilizes a flexible disk vibrating near a surface to generate a strong and controllable attractive force without direct contact. By employing an electric motor as the vibration source, the constructed VBA system was experimentally evaluated, achieving an adhesion-to-weight ratio exceeding 51 times. The experimental results demonstrate that this adhesion mechanism not only provides a high normal force but also maintains minimal shear force, making it particularly suitable for high-speed movement and heavy load applications in miniature wall-climbing robots. |
| title | Design and Characterization of a Micro-Vibration Adhesion System |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.05351 |