Design and Experimental Study of a Bioinspired Wall-Climbing Robot With Multi-Locomotion Modes

In this article, a novel wall-climbing locomotion mechanism, which can adapt multiple wall surfaces is developed to imitate the special animals, such as geckoes or flies. The spiny and adhesive belts are adopted in this robot to implement climbing on different kinds of wall surfaces instead of the vacuum generator for moving quietly and quickly. The switching mechanism is brought out to realize the belts switching between different surfaces, and a tail made up of two torsional springs and a supporting part is designed to overcome the robot’s overturning moment. So the mechanical system of the robot consists of four parts: the power and drive system, the moving mechanisms (spiny and adhesive), the switching system and the tail. Then the virtual prototyping of the robot with multi-locomotion modes is brought out, and the different gaits on the rough surface, the smooth surface and the transition process are analyzed. During the spine gait using the spine belts, the adhesive force should overcome the robot gravity and drive it, so the drive torque can obtained by building the force balance equations of the robot, which include the supporting forces of the spine belts and the tail. During the adhesive gait using the adhesive rubber belts, the force balance equations should include the supporting forces of the adhesive belts and the tail. And during the transition gait, the force balance equations include all of the above forces. So the mechanical model of the robot can be built according to the above analysis. Finally, the experimental prototype of the wall-climbing robot is manufactured and the wall-climbing experiments are carried out to testify its functions. The experiments show that the robot can adapt to different wall surfaces, and the torque parameters obtained based on the dynamics model can ensure the robot to locomote stably.

Analysis of Flow Rates in the Design of Effector for Unilateral Gripping with Active Vacuum Suction Cup

This article deals with the problems of the need for the required volume and flow rate in the circuit with underpressure in the design of the gripping effector with active suction cups. It presents a process of designing a vacuum generator which is required to power such effector so that it guarantees a quick and secure fixation of handling objects (OM) at handling it with a robot. The article displays a means of determining of so-called evacuationtimes in the process of gripping of OM during the handling tasks.

The Application of Vacuum Power for Drill Automatic Welding Device

In this paper, a vacuum suction cup robot is introduced, which is used in drill bolt welding machine to add silver brazing sheets. This paper briefly discusses the application of vacuum power on the device. Then through the selection of the degree of vacuum and a vacuum generator, the selection and calculation of the chuck size specify the design process of the vacuum power system. Finally, through the working process of the manipulator and the structural design of the silver brazing box briefly introduce the movement of the vacuum suction manipulator.

Vacuum Large Current Parallel Transfer Numerical Analysis

The stable operation and reliable breaking of large generator current are a difficult problem in power system. It can be solved successfully by the parallel interrupters and proper timing sequence with phase-control technology, in which the strategy of breaker’s control is decided by the time of both the first-opening phase and second-opening phase. The precise transfer current’s model can provide the proper timing sequence to break the generator circuit breaker. By analysis of the transfer current’s experiments and data, the real vacuum arc resistance and precise correctional model in the large transfer current’s process are obtained in this paper. The transfer time calculated by the correctional model of transfer current is very close to the actual transfer time. It can provide guidance for planning proper timing sequence and breaking the vacuum generator circuit breaker with the parallel interrupters.