scholarly journals Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State

2021 ◽  
Vol 11 (13) ◽  
pp. 5860
Author(s):  
Bingcheng Wang ◽  
Xiaofeng Xiong ◽  
Jinjun Duan ◽  
Zhouyi Wang ◽  
Zhendong Dai
Keyword(s):  
Adhesion Strength ◽  
Adhesion Force ◽  
Sudden Change ◽  
Universal Method ◽  
Climbing Robot ◽  
Motion Stability ◽  
Key Factor ◽  
Normal Adhesion ◽  
Stiffness And Damping ◽  
Online Tuning

Adhesion state is a key factor affecting the motion stability of a wall-climbing robot. According to different adhesion states, there is no universal method for compliant detachment. We propose an online impedance strategy for controlling peeling angle to realize compliant movement. Variable compliant motions are achieved by online tuning the stiffness and damping parameters of proportional-derivative control, which realizes compliant detachment with a peeling angle of π, the adhesion strength to adjust to a minimum and basically eliminated the instant change in normal adhesion strength at the detachment end state. The proposed controller was validated using a vertical climbing robot. The results showed that, with the proposed controller, the sudden change in the normal adhesion force during peeling was significantly reduced. Besides, there is no correlation between the sudden change in the normal adhesion force at the detachment end state and the adhesion state. Regardless of the adhesion states, the compliant detachment can be accomplished reliably.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Design and analysis of a climbing robot for pylon maintenance

2018 ◽  
Vol 45 (2) ◽  
pp. 206-219
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yishu Wang
Keyword(s):  
Design Methodology ◽  
Adhesion Force ◽  
External Surface ◽  
Climbing Robot ◽  
Design And Development ◽  
New Approach ◽  
Content Type ◽  
Rotary Joint ◽  
Inspection And Maintenance ◽  
Practical Implications

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

scholarly journals Analysis of Magnetic Wheel Adhesion Force for Climbing Robot

2019 ◽  
Vol 3 (1) ◽  
pp. 534-541
Author(s):  
Haydn Welch ◽  
Shyamal Mondal
Keyword(s):  
Adhesion Force ◽  
Climbing Robot

A Wall Climbing Robot Based on the Improved Electro Adhesion Technology

2013 ◽  
Vol 328 ◽  
pp. 56-61
Author(s):  
Jin Chao Guo ◽  
Guang Hui Dai ◽  
Guang Chao Cui
Keyword(s):  
Adhesion Force ◽  
Electrode Array ◽  
New Method ◽  
Climbing Robot ◽  
Insulating Layer ◽  
Self Cleaning

Electro adhesion is a novel adhesion technology, offering a new method for the designing of adhesion type of climbing robot. In this paper, an improved electro adhesion technology is put forward, using ERG (Electro Rheological Gel) as the insulating layer of electrode array. Experiments show that the adhesion force is enhanced by using ERG and the electrode array has self-cleaning function to some extent. Finally, a climbing robot was developed and it can climb kinds of walls (such as wood, glass and concrete), which proves the effectiveness of the improved electro adhesion technology.

Adhesion Strength of Human Ligament Fibroblasts

1994 ◽  
Vol 116 (3) ◽  
pp. 237-242 ◽  
Author(s):  
K.-L. Paul Sung ◽  
Michael K. Kwan ◽  
Fausto Maldonado ◽  
Wayne H. Akeson
Keyword(s):  
Adhesion Strength ◽  
Cell Function ◽  
Adhesion Force ◽  
Cruciate Ligament ◽  
Healing Process ◽  
Matrix Proteins ◽  
Functional Relationships ◽  
Seeding Time ◽  
Adhesive Interactions ◽  
Anterior Cruciate

The adhesive interactions of cells with other cells and the extracellular matrix (ECM) play a fundamental role in the organization of cells in differentiated organs, cell motility, and the healing process. The adhesion characteristics of ligament fibroblasts depend on the expression of cell surface molecules and their interaction with the ECM. Although many receptors mediating the effects of ECM components on ligament cell function remain poorly defined, it is known that fibronectin (FN) allows ligament cells to adhere through the VLA-5 receptor (α5β1). A direct measurement of the adhesion between anterior cruciate ligament (ACL) or medial collateral ligament (MCL) fibroblasts and fibronectin matrix proteins was achieved by using a micromanipulation technique to determine the force required to detach an ACL or MCL cell from fibronectin-coated glass. We have found that the adhesion strength is not random, but has well-defined functional relationships with the FN concentration and the seeding time (time allowed for the cell to establish attachment). The adhesion strength (i.e., force required to detach) of ACL cells shows a stronger dependence on FN concentration (1, 2, and 5 μg/ml) for short seeding times (15-30 min) than for long seeding times (38-75 min). For MCL cells, the effect of the seeding time on adhesion strength was apparent for all concentrations. For all the seeding times studied and FN concentrations used, MCL cells had higher adhesion strength than ACL cells. The adhesion strengths of ACL and MCL fibroblasts to FN are correlated to cell adhesion area. The normalized adhesion strength (adhesion force/adhesion area) of MCL fibroblasts is approximately 0.025 mdynes/μm2, which is the same as ACL cells for a seeding time from 18 to 50 minutes.

scholarly journals Rapid digital light 3D printing enabled by a soft and deformable hydrogel separation interface

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Jingjun Wu ◽  
Jing Guo ◽  
Changhong Linghu ◽  
Yahui Lu ◽  
Jizhou Song ◽  
...  
Keyword(s):  
3D Printing ◽  
Large Scale ◽  
Adhesion Force ◽  
Separation Mechanism ◽  
Thickness Direction ◽  
Key Factor ◽  
Innovative Techniques ◽  
Printing Techniques ◽  
Very High ◽  
Printing Speed

AbstractThe low productivity of typical 3D printing is a major hurdle for its utilization in large-scale manufacturing. Innovative techniques have been developed to break the limitation of printing speed, however, sophisticated facilities or costly consumables are required, which still substantially restricts the economic efficiency. Here we report that a common stereolithographic 3D printing facility can achieve a very high printing speed (400 mm/h) using a green and inexpensive hydrogel as a separation interface against the cured part. In sharp contrast to other techniques, the unique separation mechanism relies on the large recoverable deformation along the thickness direction of the hydrogel interface during the layer-wise printing. The hydrogel needs to be extraordinarily soft and unusually thick to remarkably reduce the adhesion force which is a key factor for achieving rapid 3D printing. This technique shows excellent printing stability even for fabricating large continuous solid structures, which is extremely challenging for other rapid 3D printing techniques. The printing process is highly robust for fabricating diversified materials with various functions. With the advantages mentioned above, the presented technique is believed to make a large impact on large-scale manufacturing.

scholarly journals Gecko Inspired Suit Could Have you Climbing the Wall

2008 ◽  
Vol 58 ◽  
pp. 66-71
Author(s):  
Nicola Maria Pugno
Keyword(s):  
Body Weight ◽  
Adhesion Strength ◽  
Safety Factor ◽  
Adhesion Force ◽  
Scaling Up ◽  
The Body ◽  
Dust Particles ◽  
Biomimetic Materials

Theoretical van der Walls gloves could generate an adhesion force comparable to the body weight of ∼500 men. Even if such a strength remains practically unrealistic (and undesired, in order to achieve an easy detachment), due to the presence of contact defects, e.g. roughness and dust particles, its huge value suggests the feasibility of Spiderman gloves. The scaling-up procedure, from a spider to a man, is expected to decrease the safety factor (body weight over adhesion force) and adhesion strength, that however could remain sufficient for supporting a man. Scientists are developing fascinating new biomimetic materials, e.g. gecko-inspired. Here we complementary face the problem of the structure rather than of the material, designing and fabricating a first prototype of Spiderman gloves, capable of supporting ∼10 kilograms each, thanks to new Adhesive Optimization Laws.

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