Development of Wall-climbing Robots with Sliding Suction Cups

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.

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

Robotics ◽

10.3390/robotics9020026 ◽

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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Suction Cup for Concrete Wall Testing Robot

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2016.p0194 ◽

2016 ◽

Vol 28 (2) ◽

pp. 194-197 ◽

Cited By ~ 3

Author(s):

Saeko Tokuomi ◽

◽

Kazuya Mori

Keyword(s):

Grip Force ◽

Test Methods ◽

Test Apparatus ◽

Concrete Wall ◽

Climbing Robots ◽

Expensive Equipment ◽

Suction Cup ◽

Ring Seal ◽

Suction Cups ◽

Scratch Tests

[abstFig src='/00280002/10.jpg' width=""300"" text='Claws attached to suction cups' ]Efficient economical test methods are widely needed worldwide. One target of this is to develop climbing robots that check for defects in concrete. These concrete-wall-climbing robots generally use suction cups to support themselves and test apparatus, but the danger exists of this expensive equipment falling. This may occur due to one of two reasons. The first is inadequate ring-seal decompression in suction cups and the second is suction cup slippage. We have added claws to suction cups to help prevent slippage. The claws we developed are attached to the suction cups to help grip the wall. In the sections below, we discuss the scratch tests we performed to test claw effectiveness in improving suction cup grip. We then prove through tests under actual conditions that the estimated grip force matched that of an actual suction cup's grip force with the claw.

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A Model for Optimising the Size of Climbing Robots for Navigating Truss Structures

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ◽

10.1109/iros45743.2020.9341194 ◽

2020 ◽

Author(s):

Wesley Au ◽

Tomoki Sakaue ◽

Dikai Liu

Keyword(s):

Truss Structures ◽

Climbing Robots

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

Robotics ◽

10.3390/robotics10030096 ◽

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.

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Self calibration of step-by-step based climbing robots

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2009.5354746 ◽

2009 ◽

Cited By ~ 5

Author(s):

Mahmoud Tavakoli ◽

Lino Marques ◽

Anibal T. de Almeida

Keyword(s):

Climbing Robots ◽

Self Calibration

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Analytical modelling of suction cups used for window-cleaning robots

Vacuum ◽

10.1016/j.vacuum.2005.10.002 ◽

2006 ◽

Vol 80 (6) ◽

pp. 593-598 ◽

Cited By ~ 23

Author(s):

Jihong Liu ◽

K. Tanaka ◽

L.M. Bao ◽

I. Yamaura

Keyword(s):

Analytical Modelling ◽

Suction Cups ◽

Cleaning Robots

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Soft Hybrid Suction Cup Capable of Sticking to Various Objects and Environments

Actuators ◽

10.3390/act10030050 ◽

2021 ◽

Vol 10 (3) ◽

pp. 50

Author(s):

Hideyuki Tsukagoshi ◽

Yuichi Osada

Keyword(s):

Vertical Direction ◽

Check Valve ◽

Adhesive Force ◽

Outer Diameter ◽

Shear Direction ◽

Concrete Walls ◽

Suction Force ◽

Suction Cup ◽

Valve Function ◽

Suction Cups

A universal suction cup that can stick to various objects expands the areas in which robots can work. However, the size, shape, and surface roughness of objects to which conventional suction cups can stick are limited. To overcome this challenge, we propose a new hybrid suction cup structure that uses the adhesive force of sticky gel and the suction force of negative pressure. In addition, a flexible and thin pneumatic balloon actuator with a check valve function is installed in the interior, enabling the controllable detachment from objects. The prototype has an outer diameter of 55 mm, a weight of 18.8 g, and generates an adsorption force of 80 N in the vertical direction and 60 N in the shear direction on porous walls where conventional suction cups struggle to adsorb. We confirmed that parts smaller than the suction cup and fragile potato chips are adsorbed by the prototype. Finally, the effectiveness of the proposed method is verified through experiments in which a drone with the prototypes can be attached to and detached from concrete walls and ceilings while flying; the possibility of adsorption to dusty and wet plates is discussed.

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