Design and Analysis of a Novel Wall-Climbing Robot Mechanism

Dong, Wei; Wang, Hong Guang; Liu, Ai Hua; Li, Zhen Hui

doi:10.4028/www.scientific.net/aef.2-3.346

Cited by 6 publications

(6 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The wall-climbing robot presented here includes a negative pressure adhesion module, a vacuum adhesion module and a planetary-gear train, which constitute the biped-wheel hybrid locomotion mechanism [11], as shown in Fig.1. The movement of the planetary-gear train in conjunction with the two modules mentioned above can realize the bipedal locomotion mode.…”

Section: Mechanism Description and Locomotion Modes Analysismentioning

confidence: 99%

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

Dong

Wang

Jiang

2013

AMM

Self Cite

View full text Add to dashboard Cite

The dynamic modeling and simulation of a novel wall-climbing robot is presented. For the novel biped-wheel hybrid locomotion mechanism of the robot, its locomotion modes and typical state of motion are analyzed. Based on the description of the robots pose, the dynamic model for two typical states of motion, point turning in a flat surface and transition between two intersecting surfaces, is established. The equation for calculating adhesion force when the robot moves on arbitrary inclined surfaces is derived from the dynamic model. Simulations for the adhesion force are implemented with three typical examples. The results show that the tilt angle of the attachment surface and the motion direction of the robot have great influence on the adhesion force.

show abstract

Section: Mechanism Description and Locomotion Modes Analysismentioning

confidence: 99%

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

Dong

Wang

Jiang

2013

AMM

Self Cite

View full text Add to dashboard Cite

show abstract

“…Intelligent manufacturing has become an important direction for the development of ship construction. Due to the characteristics of large structure, large surface and large space of hull parts, the existing spray painting equipment is difficult to meet the development needs of wide adaptability and intelligence of ship outer plate spray painting [8][9]. To this end, this paper proposes an intelligent spray painting system based on UAV, which consists of a six-axis and six-rotor UAV, an adaptive spray painting device, an intelligent follow-me cart and a pipeline automatic collection and discharge device.…”

Section: Introductionmentioning

confidence: 99%

The Design of Intelligent Spray Painting System for Ship Panel Based on UAV

Wei

Tang

Tian

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

This paper proposes a new form of using UAVs to carry spray painting process equipment to spray outer plates of ships, which solves the paining points of poor practicality, poor versatility and low intelligence of existing robotic spray painting and has received wide attention from experts in the industry. It includes two types of hardware equipment and three software systems, among which the hardware equipment includes intelligent spray painting platform and material supply platform, and the software system includes intelligent planning system of spray painting path, intelligent spray painting stability control system and “double platform” dynamic joint control system. Through experimental verification, the intelligent spray painting system of ship outer plate based on UAV proposed in this paper realizes intelligent spray painting of ship outer plate, improves safety, economy and efficiency of ship outer plate spray painting, and further promotes intelligent transformation of ship construction and high-quality development of ship industry.

show abstract

“…The hybrid wall climbing robot of [6] uses suction cups to adhere and two modules to move. Another example of hybrid robot is presented in [7], where it is constituted of three modules.…”

mentioning

confidence: 99%

Design, modeling and control of a wall climbing robot crossingover obstacles

Mohamed

Zyada

Elshenawy

2014

2014 IEEE/SICE International Symposium on System Integration

View full text Add to dashboard Cite

Recently, wall climbing robots have attracted much attention because of its importance in many applications such as cleaning, painting, fire fighting, tanks and walls inspection. This paper presents the design, modeling and control of a wall climbing robot, crossing over obstacles with heights more than the current ones. The proposed climbing robot consists of two mobile robots connected with a link and two revolute joints. The climbing robot is designed in a way that during crossing over obstacles, one of the mobile robots adheres to the wall while the other mobile robot with its connected link forms a 2 DOF arm crossing over obstacles. An impeller based vacuum is generated giving the adhering capability to each mobile robot. The model of the climbing robot is presented in both stationary and motion modes. A PIDcomputed torque controller is designed to the 2 DOF arm for crossing over obstacles and the presented simulation results show the validity of the proposed controller.

show abstract

Design and Analysis of a Novel Wall-Climbing Robot Mechanism

Cited by 6 publications

References 14 publications

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

Dynamic Modeling and Simulation of a Novel Wall-Climbing Robot

The Design of Intelligent Spray Painting System for Ship Panel Based on UAV

Design, modeling and control of a wall climbing robot crossingover obstacles

Contact Info

Product

Resources

About