3DCLIMBER: Climbing and manipulation over 3D structures

Tavakoli, Mahmoud; Marques, Lino; Almeida, Anı́bal T. de

doi:10.1016/j.mechatronics.2010.08.006

Cited by 54 publications

(28 citation statements)

References 30 publications

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“…Although the serpentine FIGURE 1. Serpentine robots have long been used in the aerospace field, such as (A) NASA's serpentine robots [28] for space exploration. Figure (B) is the earliest snake-like robot [29] , and Figure (C) is a snake tree-climbing robot at Carnegie Mellon University [30].…”

Section: Modeling the Crawling Gait Of The Kinematic-wave-model-bmentioning

confidence: 99%

Revealing the Mechanical Characteristics via Kinematic Wave Model for Snake-Like Robot Executing Exploration of Lunar Craters

Hou

Shi

et al. 2020

IEEE Access

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It is extremely difficult to collect deep lunar soil samples during lunar exploration, as the average thickness of lunar soils is very large, and the power of lunar soil sampling systems is inherently limited. In this paper, we propose the use of serpentine robots to explore lunar craters. Our approach is to first design a kinematic wave model that allows the serpentine robot to satisfy all the requirements of lunar exploration. The resistance encountered by each part of the robot during its motions was measured to identify the parts with the greatest influence on each mode of locomotion to maximize its locomotive efficiency. Accordingly, we have designed a serpentine robot system based on the characteristics of snakes and constructed a kinematic model for serpentine robots in lunar crater environments. In addition, we constructed a lunar soil model using a discrete element method-multibody dynamics co-simulation platform, thus optimizing the locomotion strategy of the robot. The EDEM-ADAMS co-simulation platform was used to simulate the motions of the serpentine robot in a lunar crater, which yielded the resistance, speed of motion, and displacement of the robot's modules during its motions. The optimization analysis of the motion and environmental parameters of the serpentine robot included three variables: the inclination of the lunar crater's walls, the crawling angle of the robot, and the amplitude of the robot's kinematic wave. The dependence of the motions of the serpentine robot on these variables was analyzed using maximum and averaged force values. Finally, validation experiments were performed using a serpentine robot model. Thus, we have optimized the locomotion strategy of the serpentine robot for lunar craters.

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Section: Modeling the Crawling Gait Of The Kinematic-wave-model-bmentioning

confidence: 99%

Revealing the Mechanical Characteristics via Kinematic Wave Model for Snake-Like Robot Executing Exploration of Lunar Craters

Hou

Shi

et al. 2020

IEEE Access

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“…The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article. 13 17.5 152 -220 -F50-120 3DClimber 17 42 60 -100 -F200-350…”

Section: Declaration Of Conflicting Interestsmentioning

confidence: 99%

Design of a micro pole-climbing robot

Sinan

2019

International Journal of Advanced Robotic Systems

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Pole-climbing robots are increasingly needed to carry out high-risk tasks for human beings. A micro pole-climbing robot is designed in this article. A strategy of climbing pole is proposed, which has high precision in each stride. To enable the robot to sample the angle relative to the ground in real time, micro electro mechanical systems (MEMS) three-axis accelerometers are equipped on micro pole-climbing robot. Accelerometer measurements provide an absolute reference for the pitch-and-roll components of the estimated orientation, which are used as feedback input signal of proportionalintegral-derivative algorithm. A supporting structure is installed at the joint of each gripper to assist the robot to clamp a pole. The support structure improves the load capacity of the robot. The maximum load of micro pole-climbing robot is 3.5 times its own weight. The climbing pole strategy includes the following sections: a Denavit-Hartenberg model is established and the inverse kinematic solution is analyzed; the flip locomotion is analyzed; and the parameters of K P , K I , and K D in the proportional-integral-derivative control method are obtained according to the Ziegler-Nichols controller. The performance of pole climbing based on micro pole-climbing robot prototype was tested. By using this strategy of climbing pole, the self-continuous climbing with controllable stride is realized, and the angular velocity fluctuation of the five-bar mechanism driven by steering gear is reduced. The average time of a single step is 27 s, the maximum relative error of step distance is 4.6%, and the average relative error is 2.8%. These results confirm that the structure scheme and the strategy of climbing pole are feasible.

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“…Three-dimensional (3-D) CLIMBER was developed by the University of Coimbra. 22,23 That robot has a four-DOF manipulator and two grippers. It is a very useful mechanism which is able to climb arbitrarily bent poles.…”

Section: Introductionmentioning

confidence: 99%

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

Kim

Lee

Choi

2018

International Journal of Advanced Robotic Systems

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Among many pipes in a nuclear power plant, the spray pipes in the reactor building are one of the most important pipes in view of their function and safety aspects. However, it is very difficult to manually reach and inspect the pipes for defects or damage, because these pipes are installed in very high places. To carry out this kind of inspection more easily, we developed a mobile robot to climb up and down and to cross over such pipes. A mobile robot should be small and light enough that it can be practically and safely operated in a nuclear power plant. Our robot is able to overcome obstacles such as valves, pipe flanges, and T-shaped branches, and it also meets the requirements of fail-safe, autonomous grasping, and self-power without the cables to the remote control station. The robot has a five-degree-of-freedom manipulator and two grippers and moves along the cylindrical pipes bypassing the obstacles. The robot should be able to grasp the next pipe autonomously, because the robot works in places high off the ground where the remote operator cannot see the next pipe for the robot to grasp. This article proposes a vision-based scheme for grasping a cylindrical pipe semiautonomously and describes its solution along with the forward kinematics and inverse kinematics of the mobile robot. The configuration of the pipe-climbing robot, including its hardware and software, is described, and the robot control with visual grasping is explained. The robot can be used practically for spray-pipe inspection as well as many potential other applications, such as inspection of the roof frame of a stadium consisting of pipes.

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3DCLIMBER: Climbing and manipulation over 3D structures

Cited by 54 publications

References 30 publications

Revealing the Mechanical Characteristics via Kinematic Wave Model for Snake-Like Robot Executing Exploration of Lunar Craters

Revealing the Mechanical Characteristics via Kinematic Wave Model for Snake-Like Robot Executing Exploration of Lunar Craters

Design of a micro pole-climbing robot

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

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