A climbing robot for inspection of lamppost in the airport: Design and preliminary experiments

Sun, Guoqiang; Meng, Yu; Xu, Enzhi; Zhou, Yang; Liu, Yunhui

doi:10.1109/robio.2017.8324456

Cited by 10 publications

(11 citation statements)

References 13 publications

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“…The improved robot can carry a load of 24 kg, while its installation and disassembly time is only about 5 min. Sun et al [ 41 ] designed a wire-rope-climbing robot for detecting lamps at the top of streetlights at airports ( Figure 2 a). It is composed of a compression mechanism, a suspension mechanism, and a tracked movement mechanism.…”

Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

“…Mechanical clamping relies on the force of a mechanical structure. Sun et al [ 41 ] used a pressing mechanism in a light-pole-climbing robot that consists of a handle, a wedge-shaped extrusion block, a clamping block, a connecting rod, and rubber teeth. When the handle is rotated, the wedge-shaped extrusion block is moved up and down by the thread at the front end of the handle so that the clamping block moves to the right and the rubber teeth clamp firmly to the wire rope.…”

Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

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Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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Section: Overview Of Research On Climbing Robots Used For Vertical St...mentioning

confidence: 99%

Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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“…Robots can replace human beings in accomplishing many complex or even dangerous tasks.The application of pole climbing robot for wiring and repairing distribution lines [1][2][3], climbing trees [4][5][6], in industries [7][8][9], are some examples. It reduces the risk for human beings, and offers higher working speed and efficiency.…”

Section: Introductionmentioning

confidence: 99%

“…It reduces the risk for human beings, and offers higher working speed and efficiency. Some pole robot utilizes linear motor [2], servo motors [5], DC motor [8], or even without motors [1], which can be operated and controlled remotely [1,2]. Various algorithms have also been implemented accordingly to control the climbing process, for example a sliding mode control being combined with a linear quadratic regulator and dead reckoning [7], or even just a simple P control [8].…”

Section: Introductionmentioning

confidence: 99%

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Control of Pole-Climbing Robot Orientation using Self-Tuning Method

Muslim

Nusantoro

Hasanah

et al. 2018

IJPEDS

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This paper describes the method to control a hybrid robot whose main task is to climb a pole to place an object on the top of the pole. The hybrid pole-climbing robot considered in this paper uses 2 Planetary PG36 DC-motors as actuators and an external rotary encoder sensor to provide a feedback on the change in robot orientation during the climbing movement. The orientation control of the pole-climbing robot using self-tuning method has been realized by identifying the transfer function of the actuator system under consideration, being followed with the calculation of control parameters using the self-tuning pole-placement method, and furthermore being implemented on the external rotary encoder sensor. Self-tuning pole-placement method has been explored to control the parameters q0, q1, q2, and p1 of the controller. The experiments were done on a movement path in a form of a cylindrical pole. The first experiment was done based one the change in rotation angle of the rotary sensor with the angle values greater than 50˚ in the positive direction, whereas the second experiment was done with the angle values greater than -50˚ in the negative direction. The experiment results show that the control of the robot under consideration could maintain its original position at the time of angle change disturbance and that the robot could climb in a straight direction within the specified tolerance of orientation angle change.

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Climbing robot based on triangle wheels obstacle crossing design: modeling simulation and motion analysis

Lu,

Wu,

Feng

et al. 2023

J Braz. Soc. Mech. Sci. Eng.

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A climbing robot for inspection of lamppost in the airport: Design and preliminary experiments

Cited by 10 publications

References 13 publications

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Control of Pole-Climbing Robot Orientation using Self-Tuning Method

Climbing robot based on triangle wheels obstacle crossing design: modeling simulation and motion analysis

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