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.

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.

A New Design of Climbing Robot with TRIZ Theory

2013 ◽  
Vol 572 ◽  
pp. 624-627
Author(s):  
Yu Xuan Huang ◽  
Ling Cheng Kong ◽  
Wen Tao Liu
Keyword(s):  
Problem Solving ◽  
Structural Complexity ◽  
The Body ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Existing Problems ◽  
New Type

Aiming at the existing problems and shortcomings of current climbing robots which are short of migratory climbing, the climbing forms of robots are analyzed by means of theory of inventive problem solving (TRIZ). The contradictions of mobility and structural complexity are established and solved by combining with the TRIZ contradiction matrix. According to dynamic inventive theory, a new type of turnover climbing form is established. The new type of turnover climbing robot consists of the scalable body, the turnover arm installed on the body, the clamping claws and the controller installed on the turnover arm.

scholarly journals “Life Is Splendid Here in the U.S.”: Intercultural Learning in Contemporary Chinese Students’ Academic Adjustment

2021 ◽  
Author(s):  
Karolina Achirri
Keyword(s):  
Chinese Students ◽  
High Mobility ◽  
Intercultural Learning ◽  
First Semester ◽  
Social Settings ◽  
Chinese Learners ◽  
Intercultural Encounters ◽  
Critical Approaches ◽  
New Type ◽  
The U.S

The increasing numbers of Chinese learners studying at American universities and the high mobility across borders have recently challenged prevailing stereotypes of Asians in education. While studies of Chinese students are abundant, there has been scant research on how intercultural learning unfolds in these students’ adjustment to both academic and social settings. To address this research gap, I center my case study around six of my former students from China and examine their progress at different U.S. institutions. Data from their journals were coded and analyzed qualitatively. In tracing my participants’ first semester trajectory and their strategies to adapt to the new environments, I draw on critical approaches to the established models of ICC (Byram, 1997; Deardorff, 2006; Dervin, 2016). Through investigating my students’ previous exposure to Western education and its role in their adjustment, their intercultural encounters in the U.S., and the learning that emerges from such encounters, this project offers insights into how previous linguistic and educational experiences can be mobilized and optimized to enhance intercultural learning and what frictions can occur in the process of adaptation. I also delineate characteristics of a new type of students from China, namely individuals who move fluidly between cultures in hybridized ways. I conclude by providing pedagogical implications for language educators who work with multicultural learners.

The Process Capability Matrix: A Tool for Manufacturing Variation Analysis at the Systems Level

1997 ◽  
Author(s):  
Daniel D. Frey ◽  
Kevin N. Otto
Keyword(s):  
Production Systems ◽  
Feedforward Control ◽  
Control Strategies ◽  
Block Diagram ◽  
Process Capability ◽  
Statistical Correlation ◽  
Design Decision ◽  
Variation Reduction ◽  
The Matrix ◽  
New Type

Abstract This paper introduces the concept of a process capability matrix — an ordered set of dimensionless parameters that capture information on a manufacturing system’s response to noises. The matrix captures information on the magnitude of noise, sensitivity to noise, and tolerance to variation. Algorithms and equations are presented that use the matrix to compute the yield of a manufacturing system. The method proves to be accurate on real engineering problems for which existing techniques are inadequate due to statistical correlation among product acceptance criteria. The process capability matrix also proves useful in a new type of block diagram of production systems. The block diagrams are shown to be useful in evaluating the effectiveness of feedforward control strategies for variation reduction. An electronics assembly process serves as an example of the algorithms and their use in design decision making.

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.

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.

scholarly journals Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092640
Author(s):  
Jinfu Liu ◽  
Linsen Xu ◽  
Jiajun Xu ◽  
Lei Liu ◽  
Gaoxin Cheng ◽  
...  
Keyword(s):  
High Stability ◽  
Operating Conditions ◽  
Brick Wall ◽  
Adsorption System ◽  
Exterior Wall ◽  
Climbing Robot ◽  
Ceramic Brick ◽  
Attachment Mechanism ◽  
Safe Operating ◽  
Moving Speed

This article presents an innovative wall-climbing robot for detection on smooth wall surfaces, which consists of a vacuum adsorption system and adhesion belts, making the robot flexible and effectively steerable. Moreover, the detailed attachment mechanism is further analyzed for the climbing tasks. Safe operating conditions, kinematics, and dynamic model are derived, respectively, indicating that at least the adsorption force of 30 N and the motor torque of 2 N·m are required for stable climbing of the robot. Furthermore, the prototype of the wall-climbing robot is manufactured and the climbing abilities are tested on various wall surfaces showing that the maximum moving speed and corresponding load are 7.11 cm/s and 0.8 kg on the concrete exterior wall, 5.9 cm/s and 0.75 kg on the ceramic brick wall, 6.09 cm/s and 0.85 kg on the lime wall, and 5.9 cm/s and 1 kg on the acrylic surface, respectively, which demonstrates that the robot has high stability and adaptability.

A Three-Row Opposed Gripping Mechanism With Radial Configuration for Wall-Climbing Robots

2019 ◽  
Author(s):  
Chao Xie ◽  
Xuan Wu ◽  
Xiaojie Wang
Keyword(s):  
Rough Surface ◽  
Motor Drives ◽  
Rough Wall ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Single Motor

Abstract This paper presents a three-row opposed gripping mechanism with radial configuration for wall-climbing robots inspired by the structure of the gripper of LEMUR IIB. The mechanism builds upon a kind of microspines for climbing robots. This work utilizes an opposed spoke configuration with 3 rows of 31 microspines on each linkage array, splayed around a central bracket. A single motor drives the 3 linkage arrays by a set of gears to achieve attachment and detachment procedures, and the trajectory of each linkage array tip makes the miniature spines easy to penetrate in and pull off the surfaces. The mechanism designed as a foot of climbing robots can vertically resist at least 1kg of load on rough surface. The findings provide a foundation for constructing a system for a rough-wall-climbing robot.

MOTION STRATEGY FOR THE TREPA CLIMBING ROBOT ON A METALLIC ORTHOGONAL STRUCTURE

2010 ◽  
Author(s):  
HECTOR A. MORENO ◽  
ROQUE SALTAREN ◽  
ALFONSO PAMANES ◽  
RAFAEL ARACIL
Keyword(s):  
Climbing Robot ◽  
Motion Strategy

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.

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