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

Hernando, Miguel; Gómez, Virgilio; Brunete, Alberto; Gambao, Ernesto

doi:10.3390/s21041117

Cited by 14 publications

(8 citation statements)

References 23 publications

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“…The disadvantage of this type of vacuum generators is the need for sufficient cooling of electric motors required for their operation - Reinhart et al (2010); Reinhart, Straßer (2011). There are fan vacuum generators integrated in VGD - Hernando et al (2021). This solution is used for mobile systems when it is impossible to supply the airline.…”

Section: Classification Of Vgdsmentioning

confidence: 99%

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

et al. 2022

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Based on the literature review, the article presents the analysis of approaches to classifying Gripping Devices (GDs) of Industrial Robots (IRs) and substantiates the need for systematising Pneumatic GDs (PGDs). The authors propose a classification of well-known PGDs, in which the holding force of the Manipulated Object (MO) is formed under the action of gas-dynamic effects. A general classification of PGDs with features common to all PGD subtypes is proposed: PGD type; contact type; object base type; object centring type; specialisation type; working range; availability of additional devices; the number of grippers; type of control; type of attachment to the robot. Each feature of the general PGD classification, which affects PGD characteristics, is analysed, and a usage example is given. The advantages of each feature included in the general PGD classification are also considered. For a more detailed classification, PGDs are divided into the following types: Vacuum GDs (VGDs), Jet GDs (JGDs), Combined PGDs (CPGDs). For VGD, the main distinguishing features are highlighted, which are the vacuum creation method, effect/actuator, stepwise nozzle, suction cup type, suction material type. The main distinguishing features of JGDs include using a jet of compressed air, the shape of nozzle elements, the number of nozzle elements, the direction of gas flows, type of surface of the MO. The main distinguishing features of CPGD include the type of combination and function performed. The main features are given for each classification, and the advantages/disadvantages of the most typical representatives of GDs are described. The authors identify the main development directions for GDs at the present stage of robotisation of production processes, medicine, military and space technology, etc. Based on the analysis and systematisation of literature data, the authors define the main promising areas of research that will be actively developed soon: optimisation of grippers’ design, flexible grippers, additive manufacturing (3D-printing) when creating grippers, collaborative grippers, modular grippers, universal grippers, grippers based on new materials, new effects in grippers, bionic and medical grippers, simulation and rendering of the gripping process.

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Section: Classification Of Vgdsmentioning

confidence: 99%

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

et al. 2022

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“…The adhesion system is based on a turbine that generates a lot of flow. It was selected because of its compactness, versatility, simplicity, adaptability, and suitability for variable environments [ 47 ].…”

Section: State Of the Artmentioning

confidence: 99%

“…This tool has a pressure and temperature sensor as well as three laser distance transducers that are used to facilitate the alignment of the suction cup with a surface. With the feedback from the pressure sensor, it is immediately possible to determine the gripping force achieved by the suction cup, whose design, efficiency, and performance are described in more detail in [ 47 ]. The weight and length of the entire module is 1.94 kg and 0.86 m, respectively.…”

Section: Climbing-and-legged Robotic Organismmentioning

confidence: 99%

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

et al. 2022

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MoCLORA (Modular Climbing-and-Legged Robotic Organism Architecture) is a software framework for climbing bio-inspired robotic organisms composed of modular robots (legs). It is presented as a modular low-level architecture that coordinates the modules of an organism with any morphology, at the same time allowing exchanges between the physical robot and its digital twin. It includes the basic layers to control and coordinate all the elements, while allowing adding new higher-level components to improve the organism’s behavior. It is focused on the control of both the body and the legs of the organism, allowing for position and velocity control of the whole robot. Similarly to insects, which are able to adapt to new situations after the variation on the capacity of any of their legs, MoCLORA allows the control of organisms composed of a variable number of modules, arranged in different ways, giving the overall system the versatility to tackle a wide range of tasks in very diverse environments. The article also presents ROMERIN, a modular climbing and legged robotic organism, and its digital twin, which allows the creation of different module arrangements for testing. MoCLORA has been tested and validated with both the physical robot and its digital twin.

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“…Furthermore, suction cups have been added to the legs extremes in order to hold on to any surface and allow the robot to climb. Every suction cup is equipped with its own centrifugal impeller and motor that creates and maintains the vacuum even on porous surfaces, extracting the internal air [26]. The complete griping system consists of (a) an electronic circuit inside the cup that sensorizes the system and measures the pressure and the distance to the support surface, (b) a turbine motor with its variator, (c) an electronic board that acts as a link between sensorization circuits and the control system of the suction cups and the microcontroller, and (d) a mechanical system with three rotary degrees of freedom to properly align with the surface.…”

Section: The Climber Hexapod Robot Romhexmentioning

confidence: 99%

Behavior-Based Control Architecture for Legged-and-Climber Robots

et al. 2021

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In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot with different numbers of legs. The results show the capability of performing movements in any direction and inclination planes. The components and functionalities of the developed control architecture for these robots are described, and, the architecture’s performance is tested on the ROMHEX robot.

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

Cited by 14 publications

References 23 publications

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism

Behavior-Based Control Architecture for Legged-and-Climber Robots

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