An Improved Wall-Climbing Robot with Minimal Actuation

Billingsley, John; Collie, A.A.; Rook, Michael J.

doi:10.1016/s1474-6670(17)49268-8

Cited by 3 publications

(4 citation statements)

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“…Based on demands of the test prototype, a close linkage mechanism, as one of translation mechanism, is used. The mechanism has been used in lots of WCRs (Billingsley et al , 1991; Dutkiewicz et al , 2004; Chen, 2003), and WCRs with this kind of locomotion mechanism can climb by shape changing of the close linkage mechanism, which always uses pneumatic cylinder as actuators. The number of cylinders ranges from one (Billingsley et al , 1991), two to four (Chen, 2003).…”

Section: Locomotion Of the Miniature Wall Climbing Robotmentioning

confidence: 99%

“…The mechanism has been used in lots of WCRs (Billingsley et al , 1991; Dutkiewicz et al , 2004; Chen, 2003), and WCRs with this kind of locomotion mechanism can climb by shape changing of the close linkage mechanism, which always uses pneumatic cylinder as actuators. The number of cylinders ranges from one (Billingsley et al , 1991), two to four (Chen, 2003). Though there is just one actuating cylinder in “ZIGZAG” robot (Billingsley et al , 1991), its mobility is not very good.…”

Section: Locomotion Of the Miniature Wall Climbing Robotmentioning

confidence: 99%

“…The number of cylinders ranges from one (Billingsley et al , 1991), two to four (Chen, 2003). Though there is just one actuating cylinder in “ZIGZAG” robot (Billingsley et al , 1991), its mobility is not very good. To realize omni‐directional walking on a 2D surface, two actuators are needed at least.…”

Section: Locomotion Of the Miniature Wall Climbing Robotmentioning

confidence: 99%

“…The track mechanism has a large suction area, but its gesture's adjusting is difficult. A small WCR with a translation mechanism which just has one actuator is developed (Billingsley et al , 1991). Its structure and control is very simple, but it just can move on a 2D surface by changing its shape.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A miniature wall climbing robot with biomechanical suction cups

Wang

Zhao

et al. 2009

Industrial Robot: An International Journal

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PurposeWall climbing robots' volume is needed to be very small in fields that workspace is limited, such as anti‐terror scouting, industry pipe network inspecting and so on. The purpose of this paper is to design a miniature wall climbing robot with biomechanical suction cups actuated by shape memory alloy (SMA) actuators.Design/methodology/approachBased on characteristics of biologic suction apparatuses, the biomechanical suction cup is designed first. Theory analysis of the suction cup is made considering elastic plate's deflection and SMAs constitutive model. A triangular close linkage locomotion mechanism is chosen for the miniature robot because of its simple structure and control. The robot's gait, kinematics, and control system are all illustrated in this paper.FindingsExperiments indicate that the suction cup can be used as an adhesion mechanism for miniature wall climbing robots, and the miniature robot prototype with biomechanical suction cups can move in straight line and turn with a fixed angle on an inclined glass wall.Originality/valueThis paper describes how a miniature wall climbing robot with biomechanical suction cups actuated by SMA without any air pump is designed.

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