Micro-aerial vehicle type wall-climbing robot mechanism for structural health monitoring

Shin, Jae-Uk; Kim, Dong-Hoon; Kim, Jong‐Heon; Myung, Hyun

doi:10.1117/12.2010338

Cited by 11 publications

(7 citation statements)

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“…By contrast, horizontal approach manoeuvres, for both fixed wings and rotor-based robots require the contact mechanism to hold while the robot is cantilevered, unless the robot aligns its structure near to the surface (figure 3i-m) [44,46-48, 54,59,147]. Some quadrotors align themselves with the surface by pivoting nose-down (figure 3o-q) [41,49,53,140,141] or dropping below (figure 3n) [58] into an inverted configuration. The extra thrust from the rotors in the nose-down configuration can facilitate engagement of the attachment mechanism.…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

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Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

“…Surface attachment solutions include grasping, claws, adhesive pads and suction [18,[41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59]. Some prototypes have begun to navigate surfaces with these techniques [41,44,[139][140][141]. Take-off typically depends on the landing approach.…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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“…8) [14]. The rotating part of the nacelle is also equipped with an independent stabilization system, which makes it possible to keep the camera at the right angle even when the aircraft is manoeuvring [15].…”

Section: Resultsmentioning

confidence: 99%

The Analysis of Platform Design for UAV Photography

Urbaha

Petrovs

Jakovļevs

et al. 2014

Transport and Aerospace Engineering

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-Unmanned aerial vehicles (UAVs) are equipped with video surveillance devices (video cameras, photo cameras, infrared cameras, thermal imagers, etc.). Small aerial vehicles are most often equipped with stationary video cameras. However, for large-scale filming it is necessary to provide rotation of the camera in one or several planes. This article covers different opportunities to film objects or area irrespective of the AV flight path.

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“…Wall climbing locomotion of the aerial robot can be accomplished by the combination of the thrust force and wheel drive force with maximized friction between the wheel and the surface [3][4][5]. If the friction coefficient is higher than 1, the robot can stick to the vertical surface with the thrust force toward to the wall.…”

Section: Concept Of a Drone-type Wall-climbing Robotmentioning

confidence: 99%

Development of a drone-type wall-sticking and climbing robot

Myeong

Jung

et al. 2015

2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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Urban structures need constant maintenance and inspection of the structural health condition and safety of the users, however, to access the structure is getting harder and harder due to their enormous height and size. In order to deal with this problem, though many researchers have developed several robots for wall-climbing there is no guaranteed solution yet. One of the critical reasons why existing wall-climbing robots haven't been available in the field is the risk of accidental fall due to operational failure from the harsh environment like strong wind and surface's unpredictable condition. Therefore, we tried to develop a drone-type wall-climbing aerial robot platform that can approach to any place of the structure by flying and sticking to the target place with pose change and perching mechanism. The robot is equipped with a locomotion mechanism like other wall-climbing robots to move on the vertical surface of the structure. This paper deals with installing the wall-climbing mechanism on the aerial robot, its pose change and wall sticking mechanism, and locomotion on the vertical surface of an urban structure.

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Micro-aerial vehicle type wall-climbing robot mechanism for structural health monitoring

Cited by 11 publications

References 0 publications

Touchdown to take-off: at the interface of flight and surface locomotion

Touchdown to take-off: at the interface of flight and surface locomotion

The Analysis of Platform Design for UAV Photography

Development of a drone-type wall-sticking and climbing robot

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