Detachment Force Modeling of Micro Suction Tape Based on A Three- Layer Trajectory Filtering Strategy

The detachment force is a crucial metric for evaluating the performance of climbing robots, a larger detachment force signifi-cantly impacts system stability. Establishing a detachment force model can guide climbing robots to minimize this force, ensuring stable detachment. However, current climbing robots primarily focus on functional implementation without considering the influ-ence of adhesive material detachment force, especially for high-adhesion dry adhesives like Micro suction tape(MST). To address this issue, this paper proposes a method for modeling the detachment force of MST. First, a setup was designed to capture video data of detachment angles and speeds during the detachment process, and a three-dimensional force sensor was used to collect detachment force data. Real-time detachment trajectories of the MST were extracted using visual segmentation and detection al-gorithms. A three-layer trajectory filtering strategy was employed to remove interference from the trajectories, thereby obtaining accurate detachment angles and speeds. The genetic algorithm was then used for parameter identification of the detachment force model to determine unknown physical parameters. Ultimately, the MST detachment force model was derived, with a maximum error of 0.234 N and a maximum mean squared error of 0.0073 compared to the actual detachment force data.