Climbing Without a Vacuum Pump

Brockmann, Werner; Mösch, Florian

doi:10.1007/3-540-29461-9_91

Cited by 5 publications

(2 citation statements)

References 3 publications

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“…The use of deformation passive suction cup in a holding system An optimized and simultaneously original solution of the holding system is a possibility to use only deformation, so-called passive suction cups. This solution would allow the service robot to be operated without necessity to use an active source of vacuum dependent on pressure air [25]. Based on equilibrium of forces, a gripping force can be determined provided that the suction cup diameter is not changed according to the relation…”

Section: Possibilities For An Increase Of the Suction Cup Radial Carrmentioning

confidence: 99%

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Horák¹,

Novotný²,

Starý³

2018

Service Robots

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This chapter is focused on the area of mobile systems of service robots for motion on the vertically oriented glass walls (e.g., facades of high-rise building) with the aim of their using in many inspection and technological applications. Preliminary part clearly maps the basic mechanical principles and approaches to mobile platform design with respect to the concept of kinematic chain and type of actuators. Conclusions of extensive research activities are presented, and on this background, the new design development of mechanics of robot mobile platform was made and uses two parallel placed parallelograms. The control system is based on an industrial computer, includes a module for wireless communication, and is equipped with a laser and an ultrasonic position sensor. Movement members are equipped with individual electric actuators and vacuum gripping system, which consists of smart ejectors in combination with active suction cups. Given that the load character of the suction cups during the robots movement on the vertical wall is very unfavorable, considerable authors' attention has been paid to the analysis of the deformation behavior of suction cups so as to determine the limits of external radial load to the stable contact, and discusses the possibility of increasing the radial load of gripping elements in relation to the contact surfaces character and vacuum levels.

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Section: Possibilities For An Increase Of the Suction Cup Radial Carrmentioning

confidence: 99%

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Horák¹,

Novotný²,

Starý³

2018

Service Robots

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“…It is well-known that an excellent mechanism plays an important role for the robot performance. Recently, the mechanism receives more and more attention by research and development institutions [3,4]. Basically, the research on the wall-climbing robot has focused on two aspects: locomotion mechanism and adhesion mechanism.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Wall-Climbing Robot Mechanism

Dong

Wang

Liu

et al. 2011

AEF

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Keywords: wall-climbing mechanism; hybrid locomotion; kinematics Abstract. A novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance.

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A miniature wall climbing robot with biomechanical suction cups

Wang

Zhao

et al. 2009

Industrial Robot: An International Journal

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PurposeWall climbing robots' volume is needed to be very small in fields that workspace is limited, such as anti‐terror scouting, industry pipe network inspecting and so on. The purpose of this paper is to design a miniature wall climbing robot with biomechanical suction cups actuated by shape memory alloy (SMA) actuators.Design/methodology/approachBased on characteristics of biologic suction apparatuses, the biomechanical suction cup is designed first. Theory analysis of the suction cup is made considering elastic plate's deflection and SMAs constitutive model. A triangular close linkage locomotion mechanism is chosen for the miniature robot because of its simple structure and control. The robot's gait, kinematics, and control system are all illustrated in this paper.FindingsExperiments indicate that the suction cup can be used as an adhesion mechanism for miniature wall climbing robots, and the miniature robot prototype with biomechanical suction cups can move in straight line and turn with a fixed angle on an inclined glass wall.Originality/valueThis paper describes how a miniature wall climbing robot with biomechanical suction cups actuated by SMA without any air pump is designed.

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Climbing Without a Vacuum Pump

Cited by 5 publications

References 3 publications

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Design and Analysis of a Novel Wall-Climbing Robot Mechanism

A miniature wall climbing robot with biomechanical suction cups

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