Development of Wall-climbing Robots with Sliding Suction Cups

Qian, Zhi-yuan; Zhao, Yanzheng; Fu, Zhuang

doi:10.1109/iros.2006.282579

Cited by 32 publications

(11 citation statements)

References 11 publications

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“…In addition, an airflow model has been developed by utilizing fluid network theory, and its characteristics have been discussed in detail [59]. It has been demonstrated that the developed platform reliably adheres itself to wall surfaces, as well as achieves mobility [60].…”

Section: Vacuum Pump Adhesionmentioning

confidence: 99%

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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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Section: Vacuum Pump Adhesionmentioning

confidence: 99%

“…Qian et al have developed a lifted type wall climbing robot via a rope from the roof without using any actuators on board [60,88]. The robot does not have independent actuation force; instead, it can move up and down by utilizing its own weight and a lifting force from a crane at the rooftop.…”

Section: Rope And/or Rail Grippingmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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“…A suction unit utilizes air pressure as the pressing force for fixation, and many wall-climbing robots [5,6] use this function to cling onto a wall. In addition, this type of unit can stick to soft material such as body organ.…”

Section: Introductionmentioning

confidence: 99%

Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit

Bekku

Nakajima

2015

Journal of Robotics

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This paper presents a versatile method to install a small machining robot onto a planar or slightly curved object. Normally, gripping tools provide a rigid connection between a robot and a target. However, if there is no graspable area on the target, the gripper cannot perform well. To overcome this problem, we proposed a deformable device that works as a universal suction pad and that can hold an ungraspable target by utilizing the jamming transition phenomenon. We determined the effect of the type of grains on the jamming transition phenomenon in terms of stability under jammed conditions. By comparing the four types of grains, we found that the tetrahedral-shaped grains performed the best. Subsequently, we evaluated the performance of the device. The suction force was 166-N when the proposed device was affixed to a curved target. Next, we evaluated the stiffness of the device. The average deformations of the device were 0.10 mm, 0.35 mm, and 0.04 mm, respectively, when 50-N downward vertical, horizontal, and upward vertical directional loads were applied to the device, which was affixed to the curved target. The results suggest that the proposed device performed well in affixing a robot onto a target.

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“…Wall-climbing robot is a kind of special mobile robot, which can move and work on vertical wall to complete given tasks [1][2][3][4][5]. Although wall-climbing robots have been researched for many years, few practicable wallclimbing robots have been developed to perform very risky works.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Gait and Mechanical Property of Wall-climbing Caterpillar Robot

Wang¹,

Wang²,

Zhang³

2012

JCP

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In order to demonstrate the validity and the benefit of the closed-chain kinematics of four-link motional method for the gait of wall-climbing caterpillar robot, the mathematical model and the relation of kinematical parameters were built. The caterpillar robot can climb on the wall by coordinated rotation of one active joint and three passive joints. The mechanical property of the closed-chain kinematics of four-link method is analyzed. And the relation of the driving joint torque and joint angle in wall-climbing process is deduced based on coplanar arbitrary force system. The coordinated control of multiple joints and the basis for selecting driving joints were discussed for developing the wall-climbing caterpillar robot. To testify the availability of the closed-chain kinematics of four-link method, a prototype of wall-climbing caterpillar robot with three kinds of adhesion modules based on vibrating suction method is designed. A successful wall-climbing test confirms both the principles of the closed-chain kinematics of four-link method and the validity of the adhesion modules based on vibrating suction method. The results show that the basis for selecting driving joints was reasonable and that the adhesion module based on vibrating suction method can produce powerful adsorption force with small weight and volume to ensure the safety and reliability of wall-climbing

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Development of Wall-climbing Robots with Sliding Suction Cups

Cited by 32 publications

References 11 publications

A Survey of Wall Climbing Robots: Recent Advances and Challenges

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit

Analysis of Gait and Mechanical Property of Wall-climbing Caterpillar Robot

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