607 A Basic Study of New type of a Wall-Climbing Robot

2000 ◽  
Vol 005.2 (0) ◽  
pp. 177-178
Author(s):  
Masayuki AZUMA ◽  
Yoshihiro HIDAKA ◽  
Hiromori MIYAGI
Keyword(s):  
Climbing Robot ◽  
Basic Study ◽  
New Type

Design and analysis of a new frame-foot wall-climbing robot

2021 ◽  
pp. 095440702110402
Author(s):  
Ping Huo ◽  
Yangyang Xu ◽  
Jiangtao Yu ◽  
Yazhou Wang
Keyword(s):  
Structure Design ◽  
Working Environment ◽  
Structure Stability ◽  
Foot Wall ◽  
Climbing Robot ◽  
3D Design ◽  
Motion Equations ◽  
Solution Models ◽  
New Type ◽  
The Stability

This paper designs and develops a new type of frame-foot wall-climbing robot structure. According to the bionic principle, a new parallel telescopic leg structure is proposed, and the 3D design of the overall structure of the wall-climbing robot is completed. Secondly, the kinematics analysis of the robot is carried out, and the forward and inverse solution models of the leg structure position are completed to verify the feasibility of the leg structure stability. Based on the polynomial motion equations, the robot motion planning and gait design are established, and the speed and acceleration change graphs of the leg structure slider are obtained, which avoids the rigid impact between the parts, and realizes the alternate adsorption and continuous movement of the robot legs, which the rationality of the legs structure design and the stability of the movement are verified. Through simulation and experimental results, it is shown that during the robot’s movement, the leg structure can adjust the step distance and step height according to obstacles, so as to achieve the expected obstacle crossing goal. The leg structure is adjusted according to the working environment to ensure that the fuselage and the working surface are always kept parallel to improve the stability of the overall structure.

Simulation Analysis of Walking and Climbing Robot Based on ADAMS

2013 ◽  
Vol 721 ◽  
pp. 433-436
Author(s):  
Dong Mei Liu ◽  
Hang Xu Yang
Keyword(s):  
Simulation Analysis ◽  
Robot Motion ◽  
Mechanical Equipment ◽  
Mountainous Area ◽  
Climbing Robot ◽  
Complex Environment ◽  
Motion Process ◽  
New Type ◽  
Simulation Results ◽  
Working Efficiency

At present, it is mostly the wheel or caterpillar of large mechanical equipment to finish the transportation operation in the mountainous area and forest complex environment. These large machines have some shortcomings, such as power consumption, poor mobility, low working efficiency and their own shortcoming of balance and the barrier and grade ability. In order to solve the above problems, this paper designed a new type of walking climbing robot and built virtual prototype of the robot by using PRO/E, did simulation of the robot motion process and the simulation results verified the feasibility of the design.

Contacting Surface-Transfer Control for Reconfigurable Wall-Climbing Robot Gunryu III

2013 ◽  
Vol 25 (3) ◽  
pp. 439-448 ◽  
Author(s):  
Woosub Lee ◽  
◽  
Shigeo Hirose ◽  
Keyword(s):  
High Stability ◽  
Control Strategies ◽  
High Mobility ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Simulation Experiments ◽  
Contact Mode ◽  
Magnetic Device ◽  
New Type ◽  
Motion Strategy

For the wall-climbing robots, high mobility as well as stability on the surface of the walls are the most important features. To achieve these features, this paper proposes a new type of reconfigurable arm equipped multi module wall-climbing robot named Gunryu III. Gunryu III has the potential ability to generate high stability and high mobility by using its arm to connect multiple mobile modules together and a magneticforce-changeable adsorption device. One of the important motions of the reconfigurable wall-climbing robot Gunryu III is surface-transfer motion, which is to change from one moving surface to another, such as from floor to wall and wall to ceiling. In this paper, we propose a new surface-transfer motion strategy named Contact Mode. It is to make surface-transfer motion by contacting some part of the moving module to one of the surfaces. As for the Contact Mode surfacetransfer motion, we first conduct several fundamental discussions, such as the five basic types of motion, conditions for making contact between the mobile module and the wall, effective way of using the magnetic device and two criteria of the evaluation. We then quantitatively evaluate the effectiveness of the proposed Contact Mode surface-transfer motion using simulation experiments, and clarify basic optimized control strategies.

scholarly journals Basic Study of New-type Submerged Breakwater Effective in Preventing Rise in eater Level

1996 ◽  
Vol 12 ◽  
pp. 127-132
Author(s):  
Makoto Wada ◽  
Mitunobu Sakamoto ◽  
Yosiki Haraguchi ◽  
Isao Irie ◽  
Shoichi Hirohata
Keyword(s):  
Basic Study ◽  
Submerged Breakwater ◽  
New Type

scholarly journals The Development of a Stair-climbing Robot with Wavy Movement by Rotating Crosses

2002 ◽  
Vol 14 (3) ◽  
pp. 298-303
Author(s):  
Ato Kitagawa ◽  
◽  
Liang Zhang ◽  
Takashi Eguchi ◽  
Hideyuki Tsukagushi ◽  
...  
Keyword(s):  
Simple Structure ◽  
Control Method ◽  
Design Method ◽  
Fire Fighting ◽  
Stair Climbing ◽  
Experimental Result ◽  
Climbing Robot ◽  
New Type ◽  
Fire Fighting Robot

A new type of movement called wavy movement, which is realized by rotating crosses, is proposed to build a stair-climbing fire-fighting robot. The prototype robot consists of 12 crosses, which are driven by 2 motors via sprockets and chains. In this paper, the principle of wavy movement, the mechanism, the design method, and the experimental result of the developed robot are discussed. It is confirmed through experiment that a robot with wavy movement is able to climb stairs with simple structure and easy control method.

Mechatronics design of self-adaptive under-actuated climbing robot for pole climbing and ground moving

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Yuwang Liu ◽  
Yi Yu ◽  
Dongqi Wang ◽  
Sheng Yang ◽  
Jinguo Liu
Keyword(s):  
Adaptive Controller ◽  
The Self ◽  
Parameter Analysis ◽  
Climbing Robot ◽  
Climbing Robots ◽  
New Type ◽  
Different Shapes ◽  
Model Reference Adaptive ◽  
Driving Source ◽  
Forest Farm

Abstract Climbing robots have broad application prospects in aerospace equipment inspection, forest farm monitoring, and pipeline maintenance. Different types of climbing robots in existing research have different advantages. However, the self-adaptability and stability have not been achieved at the same time. In order to realize the self-adaptability of holding and climbing stability, this work proposes a new type of climbing robot under the premise of minimizing the driving source. The robot realizes stable multifinger holding and wheeled movement through two motors. At the same time, the robot has two different working modes, namely pole climbing and ground crawling. The holding adaptability and climbing stability are realized by underactuated holding mechanism and model reference adaptive controller (MRAC). On the basis of model design and parameter analysis, a prototype of the climbing robot is built. Experiments prove that the proposed climbing robot has the ability to stably climb poles of different shapes. The holding and climbing stability, self-adaptability, and climbing and crawling speed of the proposed climbing robot are verified by experiments.

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