Anti-falling tree climbing mechanism optimization

Gui, Pengfei; Tang, Liqiong; Mukhopadhyay, Subhas Chandra

doi:10.1109/acirs.2017.7986109

Cited by 6 publications

(2 citation statements)

References 11 publications

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“…For climbing, most robots adopt a conceptual design with conventional structural shapes, such as rectangular structures, triangular structures, hexagonal structures, and circular structures. For example, the tree-climbing robot designed by Gui et al [ 70 ] adopts a triangular structure, being composed of three symmetrically distributed wheel mechanisms. The cable-climbing robot designed by Xu et al [ 33 ] adopts a rectangular structure, which is connected by two symmetrical modular trolleys.…”

Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade’s design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.

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Section: Key Technologies Used In Climbing Robotsmentioning

confidence: 99%

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

Fang

Cheng

2023

Biomimetics

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“…Climbing robots are divided into wall climbing robots [6][7][8][9][10] and tree climbing robots [11][12][13][14]. Most of the current tree-climbing robots are mainly wheeled, clawed and biomimetic [15], among which the wheeled tree climbing robot [16][17][18][19][20][21] mostly uses the ways of encircling to realize the climbing function of the tree climbing robot. The claw tree climbing [22][23][24] robot is a kind of tree climbing robot which uses the gripper or the claw to clamp the tree trunk and realize the tree climbing behavior, in vertical or handstand and other aspects of climbing a greater advantage.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

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In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

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