City-Climber: A New Generation Wall-Climbing Robots

Xiao, Jizhong; Sadegh, Ali M.

doi:10.5772/5090

Cited by 34 publications

(22 citation statements)

References 37 publications

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“…Total adsorption force of the robot P Absorption force of the sealing chamber P 1 Absorption force of the upper sealing chamber P 2 Absorption force of the down sealing chamber P 3 Absorption force of the sealing chamber N S Supportiveness of the sealing structure N W Supportiveness of the wheels f S Friction of the sealing chamber f w…”

Section: Mass Of the Robotmentioning

confidence: 99%

“…These robots, no matter wheeled or tracked, cannot work on curved surfaces or crossing obstacles on the surface (frame or groove, et al). This disadvantage has been overcome by robots with multi-chamber structure, and some typical prototypes include City-Climber [2], Alicia 3 [3,4] and CROMSCI [5][6][7], each of which has 2, 3 and 7 chambers respectively. Besides, frame structure and legged mechanism also enable a pneumatic adsorption robot to cross obstacles or grooves.…”

Section: Introductionmentioning

confidence: 99%

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A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Liang

Altaf

Ahmad

et al. 2014

International Journal of Advanced Robotic Systems

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This paper presents design of a climbing robot for inspection of glass curtain walls. The double-chamber structure enables the robot to climb over grooves on the glasses. In order to reduce the weight, both number and shape of the chambers are specially considered, and the pressure structure is optimized by FEA method. The statics models of different adsorption situations are also analyzed and deduced for the operational safety. In addition, design of the working arm and the wireless control system are introduced in detail. Finally, experiments of the robot are illustrated, including adsorption on different surfaces, vertical and horizontal groove-crossing as well as glass inspection. These experiments fully prove the theoretical analysis and demonstrate the climbing performance of the robot.

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Section: Mass Of the Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Liang

Altaf

Ahmad

et al. 2014

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…For example, a climbing robot with static air pressure can only adhere to smooth and non-porous surfaces [4,7], and ones with dynamic air flow can be heavy and noisy due to bulky air pumps or fans [8]. The magnetic adhesive force is, although strong, only available on ferromagnetic materials [9].…”

Section: Introductionmentioning

confidence: 99%

A Crawler Climbing Robot Integrating Electroadhesion and Electrostatic Actuation

Wang

Yamamoto

Higuchi

2014

International Journal of Advanced Robotic Systems

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Previous electroadhesive climbing robots generally employed typical electromagnetic motors, which spoiled some of the advantages of electroadhesion such as it being light, thin and flexible. To improve these, an integration of electrostatic actuation and adhesion was utilized in this work. By using FEM analyses, the present paper analysed the effect of design parameters on adhesive and driving forces respectively, and examined the possible interference between electrostatic actuation and adhesion inside the integration. Then this article discussed the driving force, payload capacity and torque balance of the robot with the integration. Based on these analyses, we designed and fabricated a lightweight (94 g) and low-height (15 mm) prototype with electrode films made by screen printing. Experiments on the prototype demonstrated that it can adhere to a vertical wall stably and move at a maximum speed of 35.3 mm/s.

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“…In spite of this, the main problem with single-body robots is that they can only work on a plain surface, because grooves or obstacles on the surface may seriously damage the sealing of the suction chamber and cause the robot to fall down. In contrast, binary-body robots exhibit better obstaclecrossing and surface transit performance, such as the City-Climber series robot [2] which has more than 4kg ground adsorption power and over 4.2kg surface adsorption force. However, the mobility and agility of binary-body robots are generally worse than single-body robot due to their larger body.…”

Section: Introductionmentioning

confidence: 99%

Design of a Docking Wall-Climbing Robot

Liu

Liang

2013

International Journal of Advanced Robotic Systems

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This paper introduces an innovative wall-climbing robot. The robot consists of two single-body negative pressure adsorption robots which could dock together as a mother-robot or separate into two independent child-robots. The child-robots connect with each other through a docking mechanism which can not only lock solidly and unlock smoothly but which can also adjust the relative position of the two child-robots. This design guarantees that while in dock mode the mother robot will be able to cross some barriers which are impossible to surmount for a single-body wall-climbing robot, while in separate mode the child-robots maintain agility and mobility compared to other two-body robots. In this paper, an overview of the mechanical structure of the robot is first presented and then three possible mechanisms for barrier-crossing are discussed and a reasonable one is selected. An analysis of the initial docking condition of the selected design is also given which provides the basis for the experiments and research for the future.

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City-Climber: A New Generation Wall-Climbing Robots

Cited by 34 publications

References 37 publications

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

A Crawler Climbing Robot Integrating Electroadhesion and Electrostatic Actuation

Design of a Docking Wall-Climbing Robot

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