In this paper, a new type of wall climbing robot with multi vacuum suckers is developed. The robot structure and working principle are introduced in detail. The analysis of safe adsorption force of the wall climbing robot. The mechanical model of the suckers is established. The adsorption force of the suckers is determined based on the experiments. The robot prototype is made. And a large number of experiments are carried out to verify the feasibility of the wall climbing robot. The experiments include robot wall adaptability test and maximum load capacity test, and all. The experiments result show that the prototype can walk on the vertical wall of various materials. The experiment results of the prototype walking on the vertical steel plate surface show that the maximum load is 13kg. And can span 20x8mm cracks.
SUMMARYIn this paper, a planar 3-DOF XYγ parallel micromanipulator with monolithic structure is presented. The micromanipulator is driven by three piezoelectric (PZT) actuators. To achieve highly accurate control, a new approach investigating the relationship among input-force, payload, stiffness, and displacement (IPSD model) of the XYγ micromanipulator is proposed in analytical style, and the analytical expression of the relationship between driving voltages of PZT actuators and outputs of end-effector is deduced based on the IPSD model. Finally, in order to verify the IPSD model, the simulations by finite element method and experiment are performed. The micromanipulator can be used to do microtasks that need the manipulator perform only planar motion, such as microoperation and microassembly, and the proposed IPSD model is useful for both digital control and design of the XYγ micromanipulator.
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