Large-Payload Climbing in Complex Vertical Environments Using Thermoplastic Adhesive Bonds

Wang, Li-Yu; Graber, Lina; Iida, Fumiya

doi:10.1109/tro.2013.2256312

Cited by 35 publications

(14 citation statements)

References 57 publications

(63 reference statements)

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“…This is of very high interest from a robotics standpoint as this reversible bond may be controlled and thus used for some specific applications. This has already been illustrated in the design of climbing (Wang et al, 2013) or reconfigurable (Wang et al, 2014) robots, but could also be adapted to other soft systems.…”

Section: Bondingmentioning

confidence: 99%

Soft Robots Manufacturing: A Review

et al. 2018

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The growing interest in soft robots comes from the new possibilities offered by these systems to cope with problems that cannot be addressed by robots built from rigid bodies. Many innovative solutions have been developed in recent years to design soft components and systems. They all demonstrate how soft robotics development is closely dependent on advanced manufacturing processes. This review aims at giving an insight on the current state of the art in soft robotics manufacturing. It first puts in light the elementary components that can be used to develop soft actuators, whether they use fluids, shape memory alloys, electro-active polymers or stimuli-responsive materials. Other types of elementary components, such as soft smart structures or soft-rigid hybrid systems, are then presented. The second part of this review deals with the manufacturing methods used to build complete soft structures. It includes molding, with possibly reinforcements and inclusions, additive manufacturing, thin-film manufacturing, shape deposition manufacturing, and bonding. The paper conclusions sums up the pros and cons of the presented techniques, and open to developing topics such as design methods for soft robotics and sensing technologies.

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Section: Bondingmentioning

confidence: 99%

Soft Robots Manufacturing: A Review

et al. 2018

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“…The last equation is the same as (1). A classical Extended Kalman Filter is then used with the models (9) and (10) in order to estimate the orientation that is needed during the backward motion.…”

Section: Kalman Filter For Angle Estimationmentioning

confidence: 99%

“…Alternative technologies to suction and magnetic forces have been investigated. In [10],thermoplastic adhesive bonds are used instead of magnets or suction pads. Even if it leads to a very high payload, the number of cycles is limited and this would induce too many maintenance operations for the ship industry.…”

Section: Introductionmentioning

confidence: 99%

A magnetic climbing robot to perform autonomous welding in the shipbuilding industry

Kermorgant

2018

Robotics and Computer-Integrated Manufacturing

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In this paper we present the mechanical and control design of a magnetic tracked mobile robot. The robot is designed to move on vertical steel ship hulls and to be able to carry 100 kg payload, including its own weight. The mechanical components are presented and the sizing of the magnetic tracks is detailed. All computation is embedded in order to reduce time delays between processes and to keep the robot functional even in case of signal loss with the ground station. The main sensor of the robot is a 2D laser scanner, that gives information on the hull surface and is used for several tasks. We focus on the welding task and expose the control algorithm that allows the robot to follow a straight line for the welding process.

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“…TPA was chosen because it offers good plastic and bonding properties which can be easily controlled through temperature [29][30][31] for automation purposes. It has been used in robotics and automation to handle small-sized parts at the submillimetre scale [32][33][34][35] as well as in robotic locomotion [36,37]. The type of TPA used in our study (Pattex Hot Stick Transparent, Henkel, Germany) is based on copolymer ethylene vinyl acetate.…”

Section: Introductionmentioning

confidence: 99%

Mechanics and energetics in tool manufacture and use: a synthetic approach

Wang

Brodbeck

Iida

2014

J. R. Soc. Interface.

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Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines.

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Large-Payload Climbing in Complex Vertical Environments Using Thermoplastic Adhesive Bonds

Cited by 35 publications

References 57 publications

Soft Robots Manufacturing: A Review

Soft Robots Manufacturing: A Review

A magnetic climbing robot to perform autonomous welding in the shipbuilding industry

Mechanics and energetics in tool manufacture and use: a synthetic approach

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