Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism

Koo, Ig Mo; Trong, Tran Duc; Lee, Yoon Haeng; Moon, Hyungpil; Koo, Jachoon; Park, Sun-Kyu; Choi, Hyouk Ryeol

doi:10.1007/s10846-013-9820-z

Cited by 63 publications

(31 citation statements)

References 6 publications

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“…The friction forces on the passive wheels will be in the opposite direction of motion, shown in Fig.8. Assuming the robot will move upward with an acceleration a and applying 2 nd Newton law, (12), (13) and applying the assurance coefficient k r then,…”

Section: B Motion Mode Analysismentioning

confidence: 99%

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

Mohamed

Zyada

Elshenawy

2014

2014 IEEE/SICE International Symposium on System Integration

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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.

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Section: B Motion Mode Analysismentioning

confidence: 99%

“…It can cross over small obstacles up to 1 cm. LARVA, [13], is a wall climbing robot used for wall inspection and it can cross over obstacles up to 1 cm in height.…”

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

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“…Wall climbing robots, which are a special operation mechanism in extreme environment generally adhere to walls by virtue of negative suckers, permanent magnets, or bio-inspired adhesion [1][2][3][4][5][6]. However, magnetic adhesion fails for wall surfaces under long-term vibrations, such as diagonal cable bridge towers and viaduct bridge piers.…”

Section: Introductionmentioning

confidence: 99%

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

Jiang

Fei

2017

Applied Sciences

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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.

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“…In general, climbing robots can be categorized based on the surface adhesion (e.g. magnetic type, 1 gripping type, 2 rail guided type, 3 biomimetic type, 4 and suction type 5 ) and the locomotion mechanism (e.g. legged type, 6 tracked type, 7 translation type, 3 cable-driven type, 8 and wheeled type 9 ), which are the two major issues in the design of climbing robots.…”

Section: Introductionmentioning

confidence: 99%

Concise method to the dynamic modeling of climbing robot

Liu

2017

Advances in Mechanical Engineering

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With the aim of dynamic modeling of the climbing robot with dual-cavity structure and wheeled locomotion mechanism, a succinct and explicit equation of motion based on the Udwadia-Kalaba equation is established. The trajectory constraint of the climbing robot, which is regarded as the external constraint of the system, is integrated into the dynamic equation dexterously. A modified numerical method is considered to reduce the errors because the numerical results obtained by integrating the constrained dynamic equation yield the errors. The trajectories are almost coincident by comparing the modified numerical value and the theoretical value. The driving torques required to guarantee the climbing robot to move along the given trajectory are obtained explicitly, which overcomes the disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier. The simulations are performed to demonstrate that the dynamical equation established by this method with brevity and accuracy is in accordance with reality status.

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Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism

Cited by 63 publications

References 6 publications

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

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

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

Concise method to the dynamic modeling of climbing robot

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