Representation of truss-style structures for autonomous climbing of biped pole-climbing robots

2018 ◽  
Vol 101 ◽  
pp. 126-137 ◽  
Author(s):  
Weinan Chen ◽  
Shichao Gu ◽  
Lei Zhu ◽  
Hong Zhang ◽  
Haifei Zhu ◽  
...  
Keyword(s):  
Climbing Robots

scholarly journals The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 96
Author(s):  
Yankai Wang ◽  
Qiaoling Du ◽  
Tianhe Zhang ◽  
Chengze Xue
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Process ◽  
Mathematical Expression ◽  
Truss Structure ◽  
Centre Of Mass ◽  
Climbing Robots ◽  
Wheeled Vehicle ◽  
Motion Modes

Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.

scholarly journals Bio-inspired Miniature Suction Cups Actuated by Shape Memory Alloy

10.5772/7228 ◽  
2009 ◽  
Vol 6 (3) ◽  
pp. 29 ◽  
Author(s):  
Hu Bing-Shan ◽  
Wang Li-Wen ◽  
Fu Zhuang ◽  
Zhao Yan-zheng
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Analytical Model ◽  
Basic Structure ◽  
Thin Elastic Plate ◽  
Climbing Robots ◽  
Suction Cup ◽  
Sma Actuator ◽  
Suction Cups ◽  
Pressure Suction

Wall climbing robots using negative pressure suction always employ air pumps which have great noise and large volume. Two prototypes of bio-inspired miniature suction cup actuated by shape memory alloy (SMA) are designed based on studying characteristics of biologic suction apparatuses, and the suction cups in this paper can be used as adhesion mechanisms for miniature wall climbing robots without air pumps. The first prototype with a two-way shape memory effect (TWSME) extension TiNi spring imitates the piston structure of the stalked sucker; the second one actuated by a one way SMA actuator with a bias has a basic structure of stiff margin, guiding element, leader and elastic element. Analytical model of the second prototype is founded considering the constitutive model of the SMA actuator, the deflection of the thin elastic plate under compound load and the thermo-dynamic model of the sealed air cavity. Experiments are done to test their suction characteristics, and the analytical model of the second prototype is simulated on Matlab/simulink platform and validated by experiments.

scholarly journals A New Family of Magnetic Adhesion Based Wall-Climbing Robots

2018 ◽  
pp. 223-230 ◽  
Author(s):  
Stefano Seriani ◽  
Lorenzo Scalera ◽  
Alessandro Gasparetto ◽  
Paolo Gallina
Keyword(s):  
Climbing Robots ◽  
New Family ◽  
Magnetic Adhesion

Design of wall climbing robots with transition capability

2007 ◽  
Author(s):  
Bin Ma ◽  
Rong Liu ◽  
Rong Zhang ◽  
Lin Tian ◽  
Nashunbuhe
Keyword(s):  
Climbing Robots

A Review and Trend of Wall-Climbing Robots

2021 ◽  
Vol 10 (03) ◽  
pp. 345-363
Author(s):  
龙 黄
Keyword(s):  
Climbing Robots

scholarly journals A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Robotics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 26
Author(s):  
Dingxin Ge ◽  
Yongchen Tang ◽  
Shugen Ma ◽  
Takahiro Matsuno ◽  
Chao Ren
Keyword(s):  
Experimental Test ◽  
Experimental Results ◽  
Climbing Robot ◽  
Guide Rail ◽  
Test Bed ◽  
Climbing Robots ◽  
Pressing Method ◽  
Suction Cup ◽  
Suction Cups

This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

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