Climbing Robot Modelling Based on Grab Claws

• Autorzy: Xu F. , Jiang G.

Warianty tytułu

PL

Modelowanie wspinającego się robota z chwytającymi pazurami

• Języki publikacji: EN

Abstrakty

EN

Though the wall-climbing robots have be used extensively, however, no effective adhesion system has been designed for robots deployed in high-altitude, rough concrete buildings that are subjected to large wind loads and vibrations. Therefore, an initial design of a wall-climbing robot based on grab claw is presented and a climbing model is proposed in the paper. The mathematical model is established to reflect the relations between sharp hook and the micro-protuberance on the rough wall surface The stress on the hook-like claws is analyzed under three different conditions, so the steady grasping condition of the hook-like claws is obtained. Simulation results are carried out which demonstrates the stability of the grasping. Finally, the system outline and field implement scheme are presented.

PL

W artykule przedstawiono projekt wspinającego się robota, opartego na chwytaku w postaci pazura. Zaproponowano także matematyczny model wspinania, pozwalający określić wpływ mikro-fałd na powierzchni pionowej na możliwość chwytania hakiem. Przeanalizowano możliwości obciążenia haka w trzech różnych warunkach pracy. Przeprowadzono badania symulacyjne i eksperymentalne w celu weryfikacji modelu.

Słowa kluczowe

EN

grasping claw; hook-like claw; wall climbing robot

PL

pazur chwytający; pazur hakowy; robot wspinający się

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2013
• Tom: R. 89, nr 3b
• Strony: 182--187
• Opis fizyczny: Bibliogr. 9 poz., schem., wykr.

Twórcy

autor

Xu F.

• College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, Jiangsu Province, China

autor

Jiang G.

• College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, Jiangsu Province, China

Bibliografia

• [1] Xu F. Y., Wang X. S., and Wang L., Cable Inspection Robot for Cable-Stayed Bridges: Design, Analysis, and Application. JOURNAL OF FIELD ROBOTICS, 28 (2011), No.3, 441-459 PRZEGLĄD ELEKTROTECHNICZNY, ISSN 0033-2097, R. 89 NR 3b/2013 187
• [2] Xu F. Y., Wang X. S., The Climbing Model and Obstacle-Climbing Performance of Cable Inspection Robot for Cablestayed Bridge, Transactions of the Canadian Society for Mechanical Engineering, 35 (2011), No. 2, 269-289
• [3] Asbeck A. T., Kim S., Cutkosky M. R., Scaling hard vertical surfaces with compliant microspine array, International Journal of Robotics Research, 25(2006), No. 12, 1165-1179
• [4] Spenko M. J., Haynes G. C., Saunders J. A., Biologically Inspired Climbing with a Hexapedal Robot, Journal of Field Robotics, 25(2008), No. 4-5, 223-242.
• [5] Avishai S., Tomer A., Amir S., Design and motion planning of an autonomous climbing robot with claws, Robotics and Autonomous Systems, 59(2011), No. 11, 1008-1019.
• [6] Guo C., Wang W. B., Yu M., Dai Z. D., Great wall into account and unwebbed house lizard foot setae structure and adhesion properties of comparative study, Science in China Series C: Life Sciences, 37(2007), No.5, 568-574.
• [7] Li H. K., Dai Z. D., Shi A. J., Big house lizard in the vertical and horizontal surfaces on the trot walking and joint angle observation, Chinese Science Bulletin, 53(2008), No.22, 2697-2703.
• [8] DAI L. Q., ZHANG H., DAI Z. D., Analysis on Feet Workspace of Gecko Robot and Gait Planning for Its Coordinated Motion, Robot, 30(2008), No. 2, 182-186.
• [9] X. W. GUAN, H. ZHANG, A. H. JI, Z. D. DAI, Development of claw-inspired foot structure for wall-climbing robot, Mechanical & Electrical Engineering Magazine, 26(2009), No. 2, 1-4.