title: On the static structural design of climbing robots: part 2.
abstract: This manuscript is the second of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this Part 2, a structural analysis based on the finite element method, specifically the stiffness method, is performed to address the problem. Parameters that are investigated in this Part 2 include the inclination of both the body and the legs of the robot. Outcomes of the performed study are validated by analyzing the posture of 150 ants when loitering on vertical surfaces. The obtained validation ensures the predictions of the developed structural model are correct and can be used to identify optimal configurations of legged robots when loitering on vertical surfaces.
authors.affiliation: MENRVA Research Group, School of Engineering Science, Simon Fraser University, Burnaby, BC V5A1S6 Canada.
authors.forename: Ausama Hadi
authors.initials: AH
authors.lastname: Ahmed
authors.affiliation: MENRVA Research Group, School of Engineering Science, Simon Fraser University, Burnaby, BC V5A1S6 Canada.
authors.forename: Carlo
authors.initials: C
authors.lastname: Menon
keywords: Biomimicry; Climbing robot; FEM; Geometry design