Testing the application of Free Flapping Foils (FFF) as a method to improve adhesion in an electrostatic wall-climbing robot

Sabermand, Vahid; Ghorbanirezaei, Shahryar; Hojjat, Yousef

doi:10.1080/01694243.2019.1653026

Cited by 8 publications

(7 citation statements)

References 20 publications

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“…The derived forward kinematic relations in Eq. (10) show the tip position (x 7 , y 7 , z 7 ) and orientation of mobile module-2 when the mobile module-1 and robot arm are in motion. The forward kinematic expression according to the D-H convention in Table II for the position and velocity of the robot components (MM-1, arm link-1, arm link-2 and MM-2) is also used for the derivation of net kinetic and potential energies.…”

Section: Kinematic Modelmentioning

confidence: 99%

“…Wall-climbing mechanisms developed based on bio-inspired adhesive [9] and electro-adhesive [10] are very useful options irrespective of the building wall materials used. Research is still going on to overcome their limitations for wall climbing, such as payload capacity, net adhesion force for climbing, and smooth attachment and detachment issues in the long run.…”

Section: Introductionmentioning

confidence: 99%

“…The literature [4,5] revealed that the permanent magnetic adhesion-based mechanism is mostly implemented in the wall-climbing robot design for ferrous structures. It is a reliable mechanism compared to other conventional mechanisms such as pneumatic suction [23], electromagnets [24], electrostatic [10], and bio-inspired [9] based adhesion mechanisms. The robot design solely based on single locomotion such as wheel-driven [25,26], track-wheel [27], multi-legged [28], etc.…”

Section: Introductionmentioning

confidence: 99%

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Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

2022

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This article presents modelling, simulation, and development of a wall-climbing robot based on coupled wheel and arm-type locomotion mechanism. The developed robot consists of two mobile modules connected with a robot arm mechanism. The actuation of the robot arm is inspired by inchworm locomotion, particularly during wall-to-wall transition, obstacle avoidance, and uneven surface locomotion. Easiness in the interchanging of wheel to arm and vice versa makes the robot more effective compared to previously developed wall-climbing robots. The kinematic and dynamic model for the proposed coupled wheel and arm locomotion concept has been established. A combination of particle swarm optimization (PSO) and proportional, integral, derivatives (PID) feedback control algorithm has been developed using MATLAB to simulate the different cases of robot motions. The developed prototype of the wall-climbing robot is used to verify the coupled wheel and arm locomotion concept in various wall climbing scenarios. The simulation and experimental findings show good comparisons and validate the model-based design of the wall-climbing robot.

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Section: Kinematic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

2022

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“…Stable adsorption capacity is a necessary condition for wall-climbing robots to work efficiently. The main adsorption methods of wall-climbing robots are divided into negative pressure adsorption 8 – 10 , magnetic adsorption 11 , 12 , bionic adsorption 13 , 14 , and electrostatic adsorption 15 , 16 . Among them, negative pressure adsorption technology research is relatively mature, and the scope of application is broad and not limited by wall materials.…”

Section: Introductionmentioning

confidence: 99%

Design and optimization of wall-climbing robot impeller by genetic algorithm based on computational fluid dynamics and kriging model

Fang

Wang

Cui

et al. 2022

Sci Rep

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In recent years, wall-climbing robots have begun to replace manual work at heights to reduce economic losses and casualties caused by working at heights. This paper designs a negative pressure adsorption type wall-climbing robot and analyzes the internal fluid movement state of its negative pressure device and the force analysis of the robot when it is adsorbed and balanced. Furthermore, through the experimental prototype, the influence of wall material, robot pose, negative pressure cavity shape and sealing method on the adsorption performance of the wall-climbing robot is explored. The computational fluid dynamics simulation (CFD) simulation method and experimental results are used to verify each other, which proves the correctness of the simulation results. Based on the Kriging surrogate model, the functional relationship between the impeller blade outlet angle, the impeller inlet diameter, the number of blades as the design variables, the negative pressure as the dependent variable was established, and the genetic algorithm (GA) was used to optimize it. Compared with the original design, the optimized design results of impeller parameters have increased the negative pressure value from 3534.75 to 4491.19 Pa, an increase of 27.06%.

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“…Ensuring the stable adhesion of the robot on the surface of the flexible material is a difficulty in space engineering. At present, the attachment methods include magnetic adsorption [ 2 , 3 ], electrostatic adsorption [ 4 , 5 ], vacuum adsorption [ 6 , 7 ], and dry adhesion [ 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 ]. These adhesion methods have their own characteristics.…”

Section: Introductionmentioning

confidence: 99%

Design of a Variable Stiffness Gecko-Inspired Foot and Adhesion Performance Test on Flexible Surface

et al. 2022

Biomimetics

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Adhesion robots have broad application prospects in the field of spacecraft inspection, repair, and maintenance, but the stable adhesion and climbing on the flexible surface covering the spacecraft has not been achieved. The flexible surface is easily deformed when subjected to external force, which makes it difficult to ensure a sufficient contact area and then detach from it. To achieve stable attachment and easy detachment on the flexible surface under microgravity, an adhesion model is established based on the applied adhesive material, and the relationship between peeling force and the rigidity of the base material, peeling angle, and working surface stiffness is obtained. Combined with the characteristics of variable stiffness structure, the adhesion and detachment force of the foot is asymmetric. Inspired by the adhesion-detachment mechanism of the foot of the gecko, an active adhesion-detachment control compliant mechanism is designed to achieve the stable attachment and safe detachment of the foot on the flexible surface and to adapt to surfaces with different rigidity. The experimental results indicate that a maximum normal adhesion force of 7.66 N can be generated when fully extended, and the safe detachment is achieved without external force on a flexible surface. Finally, an air floating platform is used to build a microgravity environment, and the crawling experiment of a gecko-inspired robot on a flexible surface under microgravity is completed. The experimental results show that the gecko-inspired foot with variable stiffness can satisfy the requirements of stable crawling on flexible surfaces.

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Testing the application of Free Flapping Foils (FFF) as a method to improve adhesion in an electrostatic wall-climbing robot

Cited by 8 publications

References 20 publications

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Design and optimization of wall-climbing robot impeller by genetic algorithm based on computational fluid dynamics and kriging model

Design of a Variable Stiffness Gecko-Inspired Foot and Adhesion Performance Test on Flexible Surface

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