In industrial applications, climbing robots are widely used for climbing and detection of rough or smooth pipe surfaces. Inspired by the special claws of longicorn is that can crawl on rough surfaces and the array of tiny bristles of geckos that can crawl on smooth surfaces, a new type of wall-climbing robot for rough or smooth surfaces is proposed in this paper. The bionic palms of the robot are suggested with special bionic hooks inspired by the longicorn and bionic adhesive materials inspired by the gecko with a good performance on adhering on the surfaces. The special bionic hooks are manufactured by the 3D printing method and the bionic adhesive materials are made by the polymer print lithography technology. These two different bionic adhere accessory are used on the robot’s palm to achieve climbing on the different surfaces. This foldable climbing robot can not only bend its own body to accommodate the cylindrical contact surfaces of different diameters, but also crawl on vertical rough and smooth surfaces using their bionic palms.

在工业应用中，攀爬机器人广泛用于攀爬和检测粗糙或光滑的管道表面。受longicorn特殊爪的启发，它可以在粗糙的表面上爬行，而壁虎的细小鬃毛则可以在光滑的表面上爬行，因此，本文提出了一种用于粗糙或光滑表面的新型爬壁机器人。机器人的仿生手掌建议使用受仿生龙眼兽启发的特殊仿生钩子，以及受壁虎启发的仿生粘合剂材料，并具有良好的表面附着力。特殊的仿生钩是通过3D打印方法制造的，而仿生粘合材料是通过聚合物印刷光刻技术制造的。这两种不同的仿生粘附附件可在机器人的手掌上使用，以实现在不同表面上的攀爬。