ON THE RESEARCH AND DEVELOPMENT OF A NEWKIND ROBOTIC LEG-SOLE MECHANISM

In the paper, a leg-sole mechanism suitable for multi-legged wall-climbing robot is proposed. Using this kind of leg mechanism, the robot not only can climb from ground to wall easily, but has the possibility of adapting to such non-plane surfaces as spherical or cylindrical ones. The leg-sole mechanism is one based on a plane pantograph attached with two sets of four-bar linkages in order for the robot to control the attitude of the sole. The paper gives discussion of mechanical configuration,drive/transmission schemes and structure of the leg-sole mechanism.