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.

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.

Soft wall-climbing robots

2018 ◽  
Vol 3 (25) ◽  
pp. eaat2874 ◽  
Author(s):  
Guoying Gu ◽  
Jiang Zou ◽  
Ruike Zhao ◽  
Xuanhe Zhao ◽  
Xiangyang Zhu
Keyword(s):  
Body Height ◽  
The Body ◽  
Artificial Muscles ◽  
Soft Robot ◽  
Confined Space ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Planar Trajectory ◽  
Soft Wall ◽  
Different Parts

Existing robots capable of climbing walls mostly rely on rigid actuators such as electric motors, but soft wall-climbing robots based on muscle-like actuators have not yet been achieved. Here, we report a tethered soft robot capable of climbing walls made of wood, paper, and glass at 90° with a speed of up to 0.75 body length per second and multimodal locomotion, including climbing, crawling, and turning. This soft wall-climbing robot is enabled by (i) dielectric-elastomer artificial muscles that generate fast periodic deformation of the soft robotic body, (ii) electroadhesive feet that give spatiotemporally controlled adhesion of different parts of the robot on the wall, and (iii) a control strategy that synchronizes the body deformation and feet electroadhesion for stable climbing. We further demonstrate that our soft robot could carry a camera to take videos in a vertical tunnel, change its body height to navigate through a confined space, and follow a labyrinth-like planar trajectory. Our soft robot mimicked the vertical climbing capability and the agile adaptive motions exhibited by soft organisms.

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.

scholarly journals Pandemic and Social Work: Exploring Finnish Social Workers’ Experiences through a SWOT Analysis

2021 ◽  
Author(s):  
Timo Harrikari ◽  
Marjo Romakkaniemi ◽  
Laura Tiitinen ◽  
Sanna Ovaskainen
Keyword(s):  
Content Analysis ◽  
Social Work ◽  
Social Workers ◽  
Swot Analysis ◽  
Adaptive Governance ◽  
Thematic Content Analysis ◽  
Face To Face ◽  
Existing Problems ◽  
Welfare Institutions ◽  
New Type

Abstract This article addresses the experiences of Finnish frontline social workers during the first wave of the COVID-19 pandemic in the spring of 2020. Two questions are addressed. First, ‘what types of challenges social work professionals faced’ in their everyday, ‘glocal’ pandemic setting and, second, what types of solutions they developed to meet these challenges. The data consist of 33 personal diaries that social work professionals created from mid-March to the end of May 2020. The diaries are analysed by a thematic content analysis and placed within the framework of a strengths, weaknesses, opportunities and threats analysis. The results suggest that the pandemic challenged social work at all levels, from face-to-face interactions to its global relations. The pandemic revealed not only the number of existing problems of social work, but also created new types of challenges. It demanded ultimate resilience from social workers and a new type of adaptive governance from social welfare institutions.

Dynamic Characteristic Analysis of New Pneumatic Bending Joint

2012 ◽  
Vol 271-272 ◽  
pp. 1742-1749
Author(s):  
Peng Cheng Huang ◽  
Qing Hua Yang ◽  
Guan Jun Bao ◽  
Li Bin Zhang
Keyword(s):  
Response Time ◽  
Dynamic Characteristic ◽  
Simulation Analysis ◽  
Characteristic Analysis ◽  
Pneumatic Actuators ◽  
Bending Performance ◽  
First Law Of Thermodynamics ◽  
Existing Problems ◽  
Joint Damping ◽  
New Type

Aimed at existing problems on the bending performance of pneumatic bending joint, a new type of pneumatic bending joint is proposed in this paper. Double flexible pneumatic actuators are used as actuating drivers. Based on the first law of thermodynamics and the joint dynamic equation, the angle dynamic model is established and analyzed. Moreover simplified model is proposed. Meanwhile, its dynamic characteristic is analyzed through simulation analysis. The simulation suggests the following results: in the gas-filled phase, the joint’s pressure response time is about 10ms; while it is about 60ms in the gas-escape phase; and the angle response time of joint is 10 to 20ms. When the joint damping coefficient is increasing, this value will also increase.

Design for New Type Tobacco Sewing Machine Head

2014 ◽  
Vol 687-691 ◽  
pp. 300-303
Author(s):  
Li Zhang ◽  
Ting You Wang ◽  
Hong Bin Liu
Keyword(s):  
Simple Structure ◽  
Leaf Damage ◽  
Analytic Method ◽  
Sewing Machine ◽  
Tobacco Leaf ◽  
Existing Problems ◽  
Damage Rate ◽  
New Type ◽  
Drawing Method ◽  
New Machine

In order to reducing the worker's labor intensity in tobacco sewing, a new machine adoption with single thread sewing technology was developed. Through analyzing the existing problems in sewing machine and the tobacco damage situation, using drawing method, analytic method and other methods, the shape of the sewing component, hook line components and other mating parts were designed. The results show that the machine has the advantages of simple structure, controllable sewing speed, adjustable leaf thickness and quantity. And the tobacco leaf damage rate is low. The comprehensive efficiency in tobacco leaf knitting with this machine is four times higher than that with hand knitting. Its application prospect is considerable.

Kropparnas poesi

2021 ◽  
Vol 51 (1-2) ◽  
pp. 5-14
Author(s):  
Anna-Klara Bojö
Keyword(s):  
Women Writers ◽  
Young Women ◽  
Literary History ◽  
The Body ◽  
Different Types ◽  
New Type

The Bodies’ Poetry: Eva Runefelt, Eva Ström and Swedish Poetry in the Late 1970’s In the mid 1970’s a new type of poetry, associated with the body, emerged in Sweden. Especially young women writers appeared to take Swedish poetry in new aesthetic directions, exploring questions regarding experience and language. This article focuses on two prominent writers, Eva Runefelt and Eva Ström, and discusses how their different types of poetry can be said to be a bodies’ poetry, and how it was discussed in contemporary literary critique. It also reflects on why this strand of poetry has been granted such a peripheral place in literary history.

Enhanced surface hydrophilicity of polylactic acid sutures treated by lipase and chitosan

2018 ◽  
Vol 89 (16) ◽  
pp. 3291-3302 ◽  
Author(s):  
Shuqiang Liu ◽  
Mingfang Liu ◽  
Gaihong Wu ◽  
Xiaofang Zhang ◽  
Juanjuan Yu ◽  
...  
Keyword(s):  
Reaction Time ◽  
Friction Coefficient ◽  
Surface Area ◽  
Polylactic Acid ◽  
The Body ◽  
Optimal Conditions ◽  
Absorbable Sutures ◽  
Surgical Sutures ◽  
New Type ◽  
Enhanced Surface

Polylactic acid (PLA) surgical sutures are a new type of absorbable sutures that can be degraded and absorbed in the body. However, there is high hydrophobicity for the surface of PLA sutures, which leads to poor biocompatibility and cellular affinity. In order to increase the hydrophilicity, the PLA sutures were etched by lipase firstly, and then grafted with chitosan. The results indicate that the optimal conditions of treating PLA sutures by lipase were as follows: 45℃ reaction temperature, 4.5 g/L concentration of lipase and 8 h reaction time. The sutures were etched by lipase and then formed some grooves and a number of hydroxyl (-OH) bonds, which led to increased surface area and hydrophilicity, but a drop in mass and strength. The optimal conditions of grafting chitosan onto PLA sutures were as follows: 4 h reaction time and 3 g/L concentration of chitosan. The chitosan grafted and loaded on the surface of PLA sutures, and in some areas of the sutures the chitosan reunited, which led to a rough surface and large friction coefficient. Finally, the hydrophilicity of the PLA sutures, treated by lipase and then grafted with chitosan, was greatly improved.

scholarly journals LOGICAL REASONING ANALYSIS BASED ON HIPPOCRATES PERSONALITY TYPES

Aksioma ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 57-73
Author(s):  
Nurdin Nurdin ◽  
Ita Sarmita Samad ◽  
Sardia Sardia
Keyword(s):  
Problem Solving ◽  
Mathematical Problem ◽  
Logical Reasoning ◽  
Personality Types ◽  
The Body ◽  
Mathematical Problem Solving ◽  
Different Types ◽  
Ways Of Thinking ◽  
The Difference ◽  
Descriptive Qualitative

Abstract: The theory distinguishes human based on four different personality types such as: sanguine, choleric, melancholic, and phlegmatic. Different types of personality caused by differences in the dominant fluid in the body. These differences will result in terms of behavior, ways of thinking and to get along. The type of this research that is descriptive qualitative which it is describing the logical reasoning based on Hippocrates personality types. The logical reasoning is analyzed through the four types of personality in relation to mathematical problem solving. The Analysis is done based on the logical reasoning indicator/ subindicator and the steps of problem solving stated by Polya. The result shows that there is a reasoning difference on each type of personalities. The difference can be terms of the strenght or the weakness. Sanguine is quicker in understanding problems and communicating results, choleric is more accelerated in work, melancholic is more perfect at work, and  phlegmatic is superior in terms of accuracy. Keywords: Logical reasoning, Hippocrates, sanguine, choleric, melancholic, phlegmatic

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