Qin Kecheng, Tang Wei, Zong Huaizhi, Guo Xinyu, Xu Huxiu, Zhong Yiding, Wang Yonghao, Sheng Qincheng, Yang Huayong, Zou Jun
State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China.
Sci Adv. 2025 Mar 28;11(13):eadt9284. doi: 10.1126/sciadv.adt9284. Epub 2025 Mar 26.
Climbing robots have attracted growing attention due to their mobility on vertical and nonplanar structural surfaces. However, the development of climbing robots capable of climbing on various complex surfaces remains elusive, especially on discontinuous surfaces. In nature, climbs as it grows, having growing-climbing behaviors. Inspired by , we propose a growing-climbing mechanism and report a soft climbing robot, which grows microstructured biofilms to enhance adhesion, similar to growing suckers and adsorbing to the wall. The robot uses shape memory alloy contraction to achieve bending, similar to using gelatinous fibers contraction to achieve hinge-like bending. In addition, to not damage the site, it can be fully contracted after completing tasks. The climbing robot can climb on various complex surfaces, especially discontinuous surfaces, verifying the effectiveness of ' growing-climbing mechanism. The growing-climbing mechanism is a universal climbing robot paradigm, opening a door for complex surface climbing robots.
攀爬机器人因其在垂直和非平面结构表面的移动性而受到越来越多的关注。然而，能够在各种复杂表面上攀爬的攀爬机器人的开发仍然难以实现，尤其是在不连续表面上。在自然界中， 随着生长而攀爬，具有生长-攀爬行为。受 启发，我们提出了一种生长-攀爬机制，并报告了一种软攀爬机器人，它生长微结构生物膜以增强附着力，类似于 生长吸盘并吸附在墙上。该机器人利用形状记忆合金收缩来实现弯曲，类似于 利用凝胶状纤维收缩来实现铰链状弯曲。此外，为了不损坏场地，它在完成任务后可以完全收缩。这种攀爬机器人可以在各种复杂表面上攀爬，尤其是不连续表面，验证了 的生长-攀爬机制的有效性。生长-攀爬机制是一种通用的攀爬机器人范式，为复杂表面攀爬机器人打开了一扇门。
