A gecko-inspired wall-climbing robot based on vibration suction mechanism

Chen, Rui; Fu, Leilei; Qiu, Yilin; Song, Ruizhou; Jin, Yuhong

doi:10.1177/0954406219869041

Cited by 15 publications

(15 citation statements)

References 25 publications

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“…The tail of a climbing robot is important in terms of improving the maximum climbing angles and avoiding slipping or pitchback (Jusufi et al (2008); Kim et al (2008); Chen et al (2019)). A longer tail requires less adhesion force for the front feet of the robot to adhere to the substrate (Menon et al (2004); Unver et al (2006); Hawkes et al (2011)); however, the tail length is limited by practical and aesthetic factors.…”

Section: Discussionmentioning

confidence: 99%

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Zang

Dai

Manoonpong

2022

Front. Bioeng. Biotechnol.

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Geckos use millions of dry bristles on their toes to adhere to and rapidly run up walls and across ceilings. This has inspired the successful development of dry adhesive materials and their application to climbing robots. The tails of geckos also help realize adaptive and robust climbing behavior. Existing climbing robots with gecko-inspired tails have demonstrated improved locomotion performance. However, few studies have focused on the role of a robot’s gecko-inspired tail when climbing a sloped surface and its effects on the overall locomotion performance. Thus, this paper reviews and analyzes the roles of the tails of geckos and robots in terms of their climbing performances and compares the advantages and disadvantages of robots’ tails made of rigid and soft materials. This review could assist roboticists decide whether a tail is required for their robots and which materials and motion types to use for the tail in order to fulfill their desired functions and even allow the robots to adapt to different environments and tasks.

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Section: Discussionmentioning

confidence: 99%

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Zang

Dai

Manoonpong

2022

Front. Bioeng. Biotechnol.

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“…Stable adsorption capacity is a necessary condition for wall-climbing robots to work efficiently. The main adsorption methods of wall-climbing robots are divided into negative pressure adsorption 8 – 10 , magnetic adsorption 11 , 12 , bionic adsorption 13 , 14 , and electrostatic adsorption 15 , 16 . Among them, negative pressure adsorption technology research is relatively mature, and the scope of application is broad and not limited by wall materials.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of wall-climbing robot impeller by genetic algorithm based on computational fluid dynamics and kriging model

Fang

Wang

Cui

et al. 2022

Sci Rep

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In recent years, wall-climbing robots have begun to replace manual work at heights to reduce economic losses and casualties caused by working at heights. This paper designs a negative pressure adsorption type wall-climbing robot and analyzes the internal fluid movement state of its negative pressure device and the force analysis of the robot when it is adsorbed and balanced. Furthermore, through the experimental prototype, the influence of wall material, robot pose, negative pressure cavity shape and sealing method on the adsorption performance of the wall-climbing robot is explored. The computational fluid dynamics simulation (CFD) simulation method and experimental results are used to verify each other, which proves the correctness of the simulation results. Based on the Kriging surrogate model, the functional relationship between the impeller blade outlet angle, the impeller inlet diameter, the number of blades as the design variables, the negative pressure as the dependent variable was established, and the genetic algorithm (GA) was used to optimize it. Compared with the original design, the optimized design results of impeller parameters have increased the negative pressure value from 3534.75 to 4491.19 Pa, an increase of 27.06%.

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“…In particular, IPC EAGLE [11] and SKYPRO [11] have been commercialized and have even some line-ups. Robots attached to glass windows using strong vacuum adsorption pads, such as Gecko inspired robots [14][15][16][17] and Mantis [18][19], have also been studied. In addition, robots using designated rails [20][21] for building maintenance was developed.…”

Section: Introductionmentioning

confidence: 99%

“…Robots using a large diameter brush, such as IPC EAGLE [11] and SKYPRO [11] use a combination of wheels and a brush to achieve stable obstacle-overcoming ability. Robots using vacuum adsorption pads, such as those in Gecko inspired robots [14][15][16][17], and Mantis [18][19] adopt mechanical link systems, or a mechanism utilizing the deformation of the adsorption plates to overcome obstacles. In addition, BWMR [20] and BFMR [21] used the designated rails installed at a height higher than the obstacle to avoid interference with the obstacle.…”

Section: Introductionmentioning

confidence: 99%

“…So the applicability of these cleaning robots is restricted by the obstacle height. Another cleaning robot adopted the adsorption pad mechanism [14][15][16][17][18][19][24][25] have a low moving stroke for obstacles because of small displacement of the adsorption pad deformation. Therefore, it can be applied only to buildings with low obstacles, such as glass wall surfaces, and the applicability is substantially influenced by the details of grass wall frame.…”

Section: Introductionmentioning

confidence: 99%

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Novel Mobile Mechanism Design for an Obstacle-Overcoming Robot Using Rotating Spokes

et al. 2021

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In this paper, a mechanism for overcoming high obstacles is proposed to broaden the application range of the exterior wall cleaning robot. The proposed one-degree-of-freedom wheel mechanism can overcome high obstacles by the rotation of a wheel with two different spoke lengths. To implement the inclined tilted wheel (ITW), two design variables were studied -a spoke assembly angle and a wheel shaft assembly angle. At the critical assembly angles of = 45° and = 135°, the characteristics of the generated wheel trajectory does not invade the upper and lower space of the robot. From the trajectory, the space efficiency can be secured for thrust unit cleaning device. And the same contact characteristics can get with the existing wheel on the surface. To secure the orientation stability after overcoming a high obstacle, the reaction force analysis at each caster was performed. Through the analysis results, the orientation stability was secured without the distance compensation at the gantry during or after overcoming obstacles. To verify the obstacle-overcoming ability of the ITW, a 6m -high -test bench and a 0.3m -high -obstacles was manufactured. With a scenario defining an angular position of ITW, the ability of overcoming obstacle was confirmed in the test. In addition, the scenario was supplemented for stable overcoming to avoid a collision against obstacles through additional experiments.INDEX TERMS Inclined trajectory wheel(ITW), building surface cleaning robot, overcoming obstacles, wheel trajectory, leg wheel.

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A gecko-inspired wall-climbing robot based on vibration suction mechanism

Cited by 15 publications

References 25 publications

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

The Roles and Comparison of Rigid and Soft Tails in Gecko-Inspired Climbing Robots: A Mini-Review

Design and optimization of wall-climbing robot impeller by genetic algorithm based on computational fluid dynamics and kriging model

Novel Mobile Mechanism Design for an Obstacle-Overcoming Robot Using Rotating Spokes

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