A Novel Wall Climbing Robot Based on Bernoulli Effect

Wagner, Maximilian; Chen, Xiaoqi; Nayyerloo, Mostafa; Wang, Wenhui; Chase, J. Geoffrey

doi:10.1109/mesa.2008.4735656

Cited by 25 publications

(12 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The lifting force of the BGD is generally increased by increasing the supply pressure. The main requirement to rational design of BGD is existence of smooth active surface provides smooth narrowing and expansion of airflow and has no performances, which would interfere stream (Wagner et al 2008). Providing smooth entrance and exit from nozzle reduces losses of energy of air flow and reduces jog force in zone opposite to nozzle (Savkiv et al 2020a).…”

Section: Analysis Of the Power Characteristics Of The Bgdmentioning

confidence: 99%

Gripping Devices of Industrial Robots for Manipulating Offset Dish Antenna Billets and Controlling Their Shape

et al. 2021

View full text Add to dashboard Cite

Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.

show abstract

Section: Analysis Of the Power Characteristics Of The Bgdmentioning

confidence: 99%

Gripping Devices of Industrial Robots for Manipulating Offset Dish Antenna Billets and Controlling Their Shape

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Bernoulli’s principle is widely used in industrial robots for non-contact gripping operations, but the use of this principle to hold a robot on a vertical surface is relatively new. As an example of this method, the robot presented in [ 18 ] has the capacity to move in any direction and overcome small obstacles such as the joints between the tiles of a wall or the cracks of a tree. The robot is composed of two modules of suction (based on the principle of Bernoulli) at both ends of the robot and two wheels driven by DC motors.…”

Section: Related Workmentioning

confidence: 99%

“…Then, the new diameter of the impeller was calculated using Equations (17) and (18). Finally, applying the modifications obtained from the optimization process and maintaining the relationships between the others geometric variables of the rotor, the dimension of the new impeller were set, as shown in Table 12.…”

mentioning

confidence: 99%

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

Hernando

Gómez

Brunete

et al. 2021

Sensors

View full text Add to dashboard Cite

Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper, a CFD (computer fluid dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

show abstract

“…For this reasons, a wall climbing robot independent of wall materials and surface conditions is desirable. The University of Canterbury has develop a novel wall climbing robot which offer reliable adhesion, manoeuvrability, high payload/weight ratio, and adaptability on a variety of wall materials and surface conditions (Wagner et al, 2008). Their approach is based on the Bernoulli Effect which has been applied in lifting device.…”

Section: Fig 14 a Wall-climbing Robot With A Single Suction Cupmentioning

confidence: 99%