A Survey of Technologies for Climbing Robots

2012 ◽  
Vol 236-237 ◽  
pp. 556-562 ◽  
Author(s):  
Rong Gang Yue ◽  
Shao Ping Wang
Keyword(s):  
Climbing Robot ◽  
Attraction Force ◽  
Climbing Robots ◽  
Vacuum Suction ◽  
Different Types ◽  
Magnetic Adhesion

To replace human workers in dangerous environments or difficult-to-access places, climbing robots with the ability to travel on different types of surfaces (floors, walls, ceilings) and to walk between such surfaces were developed. The most important technology for a climbing robot is how to resist gravity, and adhere to surfaces. This paper presents mainly six types of adhesion technologies to ensure climbing robot sticks to wall surfaces: magnetic adhesion, vacuum suction techniques, attraction force generators, grasping grippers, bio-mimetic approaches inspired by climbing animals, and compliant electroadhesion, et al. Moreover, this paper represents advantages and limitations of adhesion technologies.

scholarly journals Permanent Magnetic System Design for the Wall-Climbing Robot

2006 ◽  
Vol 3 (3) ◽  
pp. 151-159 ◽  
Author(s):  
W. Shen ◽  
J. Gu ◽  
Y. Shen
Keyword(s):  
Magnetic System ◽  
Dynamic Force ◽  
Climbing Robot ◽  
Force Analysis ◽  
Climbing Robots ◽  
Adhesion Mechanism ◽  
Magnetic Systems ◽  
Different Types ◽  
Design Requirements ◽  
Magnetic Adhesion

This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

scholarly journals Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

2021 ◽  
Vol 9 ◽  
Author(s):  
Pongsiri Borijindakul ◽  
Aihong Ji ◽  
Zhendong Dai ◽  
Stanislav N. Gorb ◽  
Poramate Manoonpong
Keyword(s):  
Essential Factor ◽  
Climbing Robots ◽  
Wet Adhesion ◽  
Dry Adhesion ◽  
Different Types ◽  
Climbing Ability ◽  
The Right ◽  
Magnetic Adhesion

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

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

scholarly journals Design and Analysis of a Novel Wall-Climbing Robot Mechanism

2011 ◽  
Vol 2-3 ◽  
pp. 346-351 ◽  
Author(s):  
Wei Guang Dong ◽  
Hong Guang Wang ◽  
Ai Hua Liu ◽  
Zhen Hui Li
Keyword(s):  
Negative Pressure ◽  
Planetary Gear ◽  
Gear Train ◽  
Legged Robots ◽  
Curved Surface ◽  
Climbing Robot ◽  
Vacuum Suction ◽  
Wheeled Robots ◽  
Inclined Surfaces ◽  
Hybrid Locomotion

A novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance.

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.

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.

scholarly journals Optimal Collision-Free Grip Planning for Biped Climbing Robots in Complex Truss Environment

2018 ◽  
Vol 8 (12) ◽  
pp. 2533 ◽  
Author(s):  
Shichao Gu ◽  
Haifei Zhu ◽  
Hui Li ◽  
Yisheng Guan ◽  
Hong Zhang
Keyword(s):  
Path Planning ◽  
Optimization Model ◽  
Mathematic Model ◽  
Planning Method ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Kinematic Constraint ◽  
Anchor Points ◽  
Effectiveness And Efficiency ◽  
Original Point

Biped climbing robots (BiCRs) can overcome obstacles and perform transition easily thanks to their superior flexibility. However, to move in a complex truss environment, grips from the original point to the destination, as a sequence of anchor points along the route, are indispensable. In this paper, a grip planning method is presented for BiCRs generating optimal collision-free grip sequences, as a continuation of our previous work on global path planning. A mathematic model is firstly built up for computing the operational regions for negotiating obstacle members. Then a grip optimization model is proposed to determine the grips within each operational region for transition or for obstacle negotiation. This model ensures the total number of required climbing steps is minimized and the transition grips are with good manipulability. Lastly, the entire grip sequence satisfying the robot kinematic constraint is generated by a gait interpreter. Simulations are conducted with our self-developed biped climbing robot (Climbot), to verify the effectiveness and efficiency of the proposed methodology.

The Structure Design of Gait Pole Climbing Robot

2015 ◽  
Vol 740 ◽  
pp. 171-174
Author(s):  
Xiao Jin Fu ◽  
Zhao Yang Sun ◽  
Ran Zhao ◽  
Jian Cheng Yin
Keyword(s):  
Slow Motion ◽  
Structure Design ◽  
The Body ◽  
Industrial Robots ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Robot Arms ◽  
Maintenance Work ◽  
Industrial Software

The theory of gait is one of walking ways which is efficient, fast and stable in a variety of industrial robots, offering a structure of climbing robots in a way of gait and climbing with the gait motion in paper. Through the results of analysis by various industrial software, the presented structure of climbing robots which is composed of two terminal parts and two robot arms that is the part of pedestal and climbing mechanism. In the process of climbing, realizing gripping, Swing work, turning work, an orderly motion and get to the aimed place finally through alternate between the upper and lower part of the body by the control of SCM. The presented method has not only improved many problems like complicated climbing structure, controlling rough, slow-motion and unable thronging obstacles, but also accomplished the subsequent operations like tools delivering, pole testing, clearing, maintenance work, furthermore, there has more comprehensive benefits.

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.

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