Developed the foot mechanism, which is one of the key parts of three-limb permanent magnetic adsorption robot HIT-RMT. With this foot mechanism, the limbs of the robot can be transformed into adsorption feet to walk when needed, as well as operators to carry out assignments. Three-dimension force/moment sensor has been employed in the design of the foot, which is used to detect force information between the robot and the walking surface or operating objects. One permanent magnetic adsorption mechanism has been designed, and with it, the robot is easy to realize the adsorption and departure with the working surface with comparatively small energy consuming and ensured safety.
"Mechanical design of three-limb robot's foot", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60422U (2 May 2006); doi: 10.1117/12.664677; https://doi.org/10.1117/12.664677