Compliant track-wheeled climbing robot with transitioning ability and high-payload capacity

Lee, Giuk; Seo, Kunchan; Lee, Seok‐Woo; Park, Junhwan; Kim, Hwang; Kim, Jong-Won; Seo, TaeWon

doi:10.1109/robio.2011.6181588

Cited by 13 publications

(14 citation statements)

References 6 publications

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“…To identify the magnetic force, a function including the distance data is obtained through mathematical curve fitting by MATLAB by a 6-th order polynomial of 6 2.5 2 y e x = -+ (y is the force and x is the distance). All distributed magnetic forces around a body can be equivalent to a resultant force acting on the center of the body to simplify the dynamics.…”

Section: Resultsmentioning

confidence: 99%

“…(5) The friction between the guidance and the wall is assumed to be zero. (6) The travel speed of the robot is slow enough to ignore the effect of impact force.…”

Section: Assumptionmentioning

confidence: 99%

“…These robots can move over geometrically complex environments and carry out various tasks that are dangerous for human workers, such as inspecting oil tanks [1][2][3] and building ships [4][5][6], and situations accompanied by high altitudes and temperatures [7]. Due to the geometrical complexity of the areas in which the wallclimbing robots work, most related robot research has focused on kinematics.…”

Section: Introductionmentioning

confidence: 99%

“…Due to the geometrical complexity of the areas in which the wallclimbing robots work, most related robot research has focused on kinematics. These robots primarily include multi-body systems connected by links to facilitate transition of motion on walls [6,[8][9][10][11]. Wall-climbing robots are especially used in the shipbuilding industry and in petrochemical plants, using permanent magnets for adhesion [12,13].…”

Section: Introductionmentioning

confidence: 99%

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Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion

Nam

Lee

et al. 2014

J Mech Sci Technol

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The control of a robot is optimized to improve its energy efficiency and stability in a geometrically complex environment. For this purpose, analysis is performed on the dynamic modeling of a multi-body robot that can transition its position on corners where horizontal ground and a vertical wall intersect. The robot consists of three bodies that can be attached to the wall by permanent magnetic adhesion and connected by links with two types of compliant joints: a passive type with a torsion spring and an active type with a torque-controlled motor. A dynamics model is derived using the Lagrangian formulation, and investigated in the case of internal corner. Difficulties in the analysis of dynamics for this wall-climbing robot came from how to manage external forces. The external forces acting on the wallclimbing robot result from the wall and the magnets, which change the acting points of the forces. Experiments were conducted to determine the magnetic force with respect to distance. Simulation was then performed to verify the dynamic model. The obtained dynamic model can offer a competent tool for the design and control of the autonomous wall-climbing robot, which can be used for the inspection of heavy-industry buildings, and oil tanks where the geometrically horizontal surface and the vertical wall intersect.

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Section: Resultsmentioning

confidence: 99%

“…(5) The friction between the guidance and the wall is assumed to be zero. (6) The travel speed of the robot is slow enough to ignore the effect of impact force.…”

Section: Assumptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion

Nam

Lee

et al. 2014

J Mech Sci Technol

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“…This platform is characterized by its high payload capacity and wall transition ability. A robot platform comprising six links has been developed based on rigorous static and dynamic analysis [65]. A second iterated robot platform has been developed taking a modular approach comprising three torsos, a head-mounted arm and a tail-mounted arm [66].…”

Section: Magnetic Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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Series of Multilinked Caterpillar Track‐type Climbing Robots

Lee

Kim

Seo

et al. 2014

Journal of Field Robotics

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Climbing robots have been widely applied in many industries involving hard to access, dangerous, or hazardous environments to replace human workers. Climbing speed, payload capacity, the ability to overcome obstacles, and wall-to-wall transitioning are significant characteristics of climbing robots. Here, multilinked track wheeltype climbing robots are proposed to enhance these characteristics. The robots have been developed for five years in collaboration with three universities: Seoul National University, Carnegie Mellon University, and Yeungnam University. Four types of robots are presented for different applications with different surface attachment methods and mechanisms: MultiTank for indoor sites, Flexible caterpillar robot (FCR) and Combot for heavy industrial sites, and MultiTrack for high-rise buildings. The method of surface attachment is different for each robot and application, and the characteristics of the joints between links are designed as active or passive according to the requirement of a given robot. Conceptual design, practical design, and control issues of such climbing robot types are reported, and a proper choice of the attachment methods and joint type is essential for the successful multilink track wheel-type climbing robot for different surface materials, robot size, and computational costs. C 2014 Wiley Periodicals, Inc.

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Compliant track-wheeled climbing robot with transitioning ability and high-payload capacity

Cited by 13 publications

References 6 publications

Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion

Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Series of Multilinked Caterpillar Track‐type Climbing Robots

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