A Study on Wall Surface Mobile Robots. 1st Report, Development of Moving Mechanism for Crawler Type of Wall Surface Mobile Robots with Vacuum Pads.

敏男, 福田; 英雄, 松浦; 史人, 新井; 賢司, 西堀; 仁, 坂内; 直均, 吉井

doi:10.1299/kikaic.58.1972

Cited by 8 publications

(3 citation statements)

References 2 publications

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“…The typical active methods are electromagnetic attachment, electrostatic adhesion [1] and suction using vacuum pump [2]. Although the mechanisms can attach to the wall strongly, they consume considerable energy for maintaining adhesion.…”

Section: Introductionmentioning

confidence: 99%

Design of a wall-climbing robot with passive suction cups

Yoshida

2010

2010 IEEE International Conference on Robotics and Biomimetics

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This paper presents a wall-climbing robot which adopts passive suction cups as the attaching components. Using only one motor, this robot can not only move on a wall but also attach suction cups to the wall and remove them from the wall. Passive suction cups do not consume additional energy to keep adhesion. Therefore, the proposed robot can realize the climbing motion on a wall with relatively low energy consumption. The prototype has been designed, fabricated and tested. The experiments showed that the proposed robot could attach and remove suction cups passively. However, the robot could not move up the wall well and fell down often. In order to solve this problem, the load of each suction cup when attached to a vertical wall is analyzed. As a result, it is shown that a moment generated by both of the gravity and the attaching force of suction cups turns the robot down from the wall. Then a new model which improves the falling problems is thus designed.978-1-4244-9318-0/10/$26.00

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Section: Introductionmentioning

confidence: 99%

Design of a wall-climbing robot with passive suction cups

Yoshida

2010

2010 IEEE International Conference on Robotics and Biomimetics

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“…The ability to explore and navigate in an environment is much encourage in the robotic field. Such ability can be applied to nuclear power plant, industrial observation, oil tanks measurement and etc [9,10,11,12,13].…”

Section: Experimental Studiesmentioning

confidence: 99%

Floor to Staircase and Wall Transfer Mobile Robot

Hoe

Parasuraman

2012

AMR

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The focus of the research is on the design and development of a mobile robot which has the ability to transfer from floor to wall. A novel technique is proposed for Floor-to-Wall Transfer (FWT) robot, which has the capability to move on multi terrain in different surfaces and then able to transfer to the vertical surfaces and perform task such as exploration. The proposed FWT Mobile robot is able to perform navigation such as obstacle avoidance, terrain, capturing videos and pictures across high ceiling, industrial measurement and observation where traditional vehicles or human labor are less feasible to reach. The FWT robot consists of two portions which are the MotherBot and ExplorerBot. While the MotherBot carries the ExplorerBot, it navigates in terrain surface and staircase. ExplorerBot detaches the MotherBot, while MotherBot faces the vertical wall and ExplorerBot drive itself and navigates according to the proposed algorithm. Additional features are added onto the MotherBot and ExplorerBot to perform special tasks such as transferring, navigation, sensing objects etc. Experimental studies are carried out to study the performance of both robots. Comparison between proposed techniques using existing work are discussed and evaluated.

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“…Typical active methods are electromagnetic adhesion, electrostatic adhesion [1], and suction using a vacuum pump [2]. Although these mechanisms can produce stable wall adherence, they consume considerable energy to maintain adhesion.…”

Section: Introductionmentioning

confidence: 99%

A wall-climbing robot without any active suction mechanisms

Yoshida

2011

2011 IEEE International Conference on Robotics and Biomimetics

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This paper presents a wall-climbing robot that uses passive suction cups as the adhering components. Using a single motor, this robot can not only move on a wall but can also autonomously attach and detach suction cups to the wall. Passive suction cups do not consume additional energy to maintain adhesion. Therefore, the proposed robot can perform the wall-climbing motion with relatively low energy consumption. In order to prevent the robot from falling, a supporting tail was designed. Moreover, load distribution analysis showed that the tail can be used to enhance the distribution of the loads across the suction cups. In this paper, the optimal parameters of the robot are described and a robot is fabricated based on this analysis. We conducted experiments to verify the robot performance.

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A Study on Wall Surface Mobile Robots. 1st Report, Development of Moving Mechanism for Crawler Type of Wall Surface Mobile Robots with Vacuum Pads.

Cited by 8 publications

References 2 publications

Design of a wall-climbing robot with passive suction cups

Design of a wall-climbing robot with passive suction cups

Floor to Staircase and Wall Transfer Mobile Robot

A wall-climbing robot without any active suction mechanisms

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