Compliant wall-climbing robotic platform for various curvatures

Liu, Yanheng; Lee, DongGyu; Kim, HyunGyu; Seo, TaeWon

doi:10.1109/iros.2015.7353423

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…Negative pressure has suction [15][16][17][18], multilink [19][20][21], and propeller-types [22][23][24]. Dry adhesion has adhesive footpads [25] and [26], track [27][28][29], and wheel-leg-type [30] and [31]. Micro-spines feature wheel [32] and claw-types [33][34][35].…”

Section: Introductionmentioning

confidence: 99%

Self-Compliant Track-Type Wall-Climbing Robot for Variable Curvature Facade

Yang

Zhang

et al. 2022

IEEE Access

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The paper presents a wall-climbing robot featuring self-compliance for variable curvature façades. The high payload and maneuverability make it highly potential in heavy-duty operation of industrial applications. The robot consists of two traction modules and one link module. Each traction module is equipped with magnetic adhesion and crawler traction submodules. The two traction modules are connected by the link module with 4 degrees of freedom (DoF) of passive compliance. Variable curvature façade self-compliance is achieved by the passive compliant link module, which results in the attitude change decoupling of the two traction modules. The attitude can be adjusted under the effect of magnetic adhesion force to comply with the curvature variations. High payloads are achieved by the large contact area between the crawler and the surface. Omni-directional high maneuverability is enabled by the speed difference between the motors of two traction modules. The robot can maneuver in any direction on the surface with a minimum radius of 1 m and carry 36 kg payload on vertical surfaces.

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