Design and motion planning of an autonomous climbing robot with claws

Sintov, Avishai; Avramovich, Tomer; Shapiro, Amir

doi:10.1016/j.robot.2011.06.003

Cited by 102 publications

(58 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Sintov et al [10] proposed a wall-climbing robot with grippers. The robot was similar in structure to the bio-mimetic climbing robot in Reference [9].…”

Section: Introductionmentioning

confidence: 99%

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Jiang

Fei

2017

Applied Sciences

View full text Add to dashboard Cite

Aiming at the inspection of rough stone and concrete wall surfaces, a grasping module of cross-arranged claw is designed. It can attach onto rough wall surfaces by hooking or grasping walls. First, based on the interaction mechanism of hooks and rough wall surfaces, the hook structures in claw tips are developed. Then, the size of the hook tip is calculated and the failure mode is analyzed. The effectiveness and reliability of the mechanism are verified through simulation and finite element analysis. Afterwards, the prototype of the grasping module of claw is established to carry out grasping experiment on vibrating walls. Finally, the experimental results demonstrate that the proposed cross-arranged claw is able to stably grasp static wall surfaces and perform well in grasping vibrating walls, with certain anti-rollover capability. This research lays a foundation for future researches on wall climbing robots with vibrating rough wall surfaces.

show abstract

“…Sintov et al [10] proposed a wall-climbing robot with grippers. The robot was similar in structure to the bio-mimetic climbing robot in Reference [9].…”

Section: Introductionmentioning

confidence: 99%

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Jiang

Fei

2017

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…2,3 Therefore, climbing robots have been a very attractive research topic. There are a great number of potential applications to increase operational efficiency and protect human health and safety from hazardous tasks such as cleaning the facades of highrise buildings, [4][5][6] exploring natural and artificial environments, 7,8 inspection, 9 and so on. At present, many studies about techniques and applications of climbing robots at scientific research institutions have made significant achievements.…”

Section: Introductionmentioning

confidence: 99%

Design of a climbing robot platform with protection device

Altaf

Ahmad

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

In this article, a new wall-climbing robot platform with protection devices for city inspection is developed. After an overall structural introduction, the main protection devices of the robot are described in detail, including the support frame, the Ethylene Vinyl Acetate (EVA) shell, and the airbag. The support frame plays the roles of chassis and protection framework, so integrative and lightweight design is required. The EVA shell covers the support frame, and it protects the robot from overturn falling down from the wall. The airbag is designed both for sealing and protection. The mechanical model of the airbag is established based on the engineering thermodynamics theory and is used for force analysis when robot falls down on the ground. In addition, two-level distributed control system is designed to achieve the control of fan speed, straight moving, differential steering, position servo, and video transmission. To verify the feasibility of the climbing robot, many experiments are conducted, that is, experiments of movement, load capacity, adaptability to the wall surfaces, endurance, camera, sensor, and antithrow. The results show that the actual working performance of the climbing robot is favorable, thus providing a train of thought and inspiration for the antithrow design of climbing robot.

show abstract

“…They do not care about the torques of joints. Their prototypes generally have a small structure and light mass [11,17]. Based on non-actual limiting poses of robot, the extremal estimation method is employed to roughly estimate the articulated torques of the legged robot.…”

Section: Introductionmentioning

confidence: 99%

Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

2016

View full text Add to dashboard Cite

Abstract:The articulated torque is an important base for developing heavy-duty multi-legged robots.To quickly obtain accurate articulated torques, a method is presented for an electrically driven heavy-duty six-legged robot under its quadrangular gait. First, the typical walking ways and the working conditions of support phase are analyzed. The static articulated torques are solved though Matrix Laboratory (MATLAB) software. The variable tendency charts of torques are acquired with the changes in the joint angles. The static simulation of robot is carried out by Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. A comparative analysis of the maximum static articulated torques shows that the theoretical calculation values are smaller than the static simulation values. The maximum error value is about 5%. Finally, a prototype of the electrically driven heavy-duty six-legged robot is developed. Its climbing experiments prove that the proposed method can be applied to quickly determine accurate articulated torques.

show abstract

Design and motion planning of an autonomous climbing robot with claws

Cited by 102 publications

References 9 publications

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Design of a climbing robot platform with protection device

Analysis Method of Articulated Torque of Heavy-Duty Six-Legged Robot under Its Quadrangular Gait

Contact Info

Product

Resources

About