MultiTrack: A multi-linked track robot with suction adhesion for climbing and transition

Lee, Giuk; Kim, Hwang; Seo, Kunchan; Kim, Jong-Won; Kim, Hong Seok

doi:10.1016/j.robot.2015.05.011

Cited by 76 publications

(37 citation statements)

References 27 publications

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“…Combining the above equation with Equations (22) and (23), the vibration mode function of the robot is:…”

Section: Analysis Of the Natural Frequency Of The Cablementioning

confidence: 99%

“…In addition, for some wall climbing robots, their adhesion principle provides some inspirations for cable detection robots. For example, the robot with vacuum suckers designed by Lee [22] and a wheeled robot designed by Espinoza adopt vacuum adhesion and magnetic adhesion devices [23]. They show simple principles and could be easily controlled.…”

Section: Introductionmentioning

confidence: 99%

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The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

et al. 2018

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Cable is one of the most important parts on cable-stayed bridges. Its safety is very important. The aim of this study is to design an all-wheel-drive climbing robot based on safety recovery mechanism model for automatic inspection of bridge cables. For this purpose, a model of a three-wheel-drive climbing robot with high-altitude safety recovery mechanism is constructed and the basic performances such as climbing ability and anti-skidding properties are analyzed. Secondly, by employing the finite element method, natural frequency of the robot is calculated and that of a cable with concentrated masses is obtained through use of the Rayleigh quotient. Based on the mentioned quantities, the dynamic characteristics of the robot–cable system are further analyzed. In order to verify the climbing ability of the designed robot, a prototype of the robot is made, a robot testing platform is established and the climbing & loading experiments of the robot are carried out. The experiment results illustrated that the robot can carry a payload of 10 kg and safely return along the cable under the influences of inertial force.

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“…Combining the above equation with Equations (22) and (23), the vibration mode function of the robot is:…”

Section: Analysis Of the Natural Frequency Of The Cablementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

et al. 2018

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“…One is the legged type method as in the sky cleaners mentioned in [12,13], the robot proposed by Yano et al [29,30], and by Kawasaki et al [31]. Another method for wall climbing is the wheel/crawler-type, as in the works presented by Gao et al [32,33], Miyake et al [34,35], and Kim et al [36,37]. The robots that belong to the legged-type family have discontinuous contact points on the glass surface and are controllable within the range of operation of the robot.…”

Section: Mechanical Designmentioning

confidence: 99%

A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot

et al. 2017

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Abstract:The façade cleaning of high rise buildings is one of the hazardous tasks that is performed by human operators. Even after a significant advancement in construction technologies, several newfangled skyscrapers are still using the manual method for cleaning the glass panels. This research is aimed at the development of a glass façade cleaning robot, capable of adapting to any kind of building architecture. A robotic system capable of cleaning vertical glass surfaces demands a transformable morphology. A self-reconfigurable robot is one of the potential solutions to realize high degrees of adaptability. Following the design principles we derived, we propose a nested reconfigurable design approach for glass façade cleaning and develope a system of robot modules that performs glass façade cleaning. Throughout this research article, we discuss the brief concept and scheme of nested reconfigurable design principle and the hardware-software challenges associated with it. This article also discusses the capability to maximize the flexibility and modularity of the robot by using intra-and inter-reconfigurations. The effectiveness of the designed system is verified by experimental means.

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“…In addition, efforts have been taken to modularize the robot design, and a platform with three core modules has been developed [39]. Each module is equipped with the above-mentioned suction cup crawlers, by controlling each of these modules based on kinematic analysis, a transition control between two orthogonal surfaces has been realized and validated through field experiments with the developed robot [40].…”

Section: Suction Cup Crawler Adhesionmentioning

confidence: 99%

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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MultiTrack: A multi-linked track robot with suction adhesion for climbing and transition

Cited by 76 publications

References 27 publications

The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

A Novel Nested Reconfigurable Approach for a Glass Façade Cleaning Robot

A Survey of Wall Climbing Robots: Recent Advances and Challenges

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