Cromsci - A Climbing Robot With Multiple Sucking Chambers for Inspection Tasks

Hillenbrand, Carsten; Schmidt, Daniel; Berns, Karsten

doi:10.1142/9789812835772_0038

Cited by 16 publications

(11 citation statements)

References 10 publications

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“…As Hillenbrand points out in [5], the more chambers, the higher reliability of a climbing robot; while fewer chambers can reduce the robot weight and cost. Therefore, a low-cost and light-weight robot needs to achieve balance between the reliability and the weight.…”

Section: Chamber Membermentioning

confidence: 99%

“…These robots, no matter wheeled or tracked, cannot work on curved surfaces or crossing obstacles on the surface (frame or groove, et al). This disadvantage has been overcome by robots with multi-chamber structure, and some typical prototypes include City-Climber [2], Alicia 3 [3,4] and CROMSCI [5][6][7], each of which has 2, 3 and 7 chambers respectively. Besides, frame structure and legged mechanism also enable a pneumatic adsorption robot to cross obstacles or grooves.…”

Section: Introductionmentioning

confidence: 99%

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A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Liang

Altaf

Ahmad

et al. 2014

International Journal of Advanced Robotic Systems

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This paper presents design of a climbing robot for inspection of glass curtain walls. The double-chamber structure enables the robot to climb over grooves on the glasses. In order to reduce the weight, both number and shape of the chambers are specially considered, and the pressure structure is optimized by FEA method. The statics models of different adsorption situations are also analyzed and deduced for the operational safety. In addition, design of the working arm and the wireless control system are introduced in detail. Finally, experiments of the robot are illustrated, including adsorption on different surfaces, vertical and horizontal groove-crossing as well as glass inspection. These experiments fully prove the theoretical analysis and demonstrate the climbing performance of the robot.

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Section: Chamber Membermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

Liang

Altaf

Ahmad

et al. 2014

International Journal of Advanced Robotic Systems

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“…Destacar que los sistemas neumáticos pueden ser clasificados a su vez en tres subcategorías atendiendo a los modos de generación del efecto absorción (Hillenbrand et al, 2008):…”

Section: B Sistemas De Sustentación Autónomosunclassified

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Riobo

Espelosín

Montano

et al. 2018

ADE

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Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas. New robotic systems of inspection and intervention in façade rehabilitation. Resumen-La construcción de edificios cada vez más altos, la puesta en marcha de la ITV de edificios de más de 50 años y los avances tecnológicos son tres factores que hacen cada vez más interesante, e incluso necesario, el desarrollo de nuevos sistemas de inspección que faciliten dichas actuaciones. La robotización en estas tareas debe dar lugar a una optimización de los procesos (menor tiempo, menor coste), disminución de riesgos laborales, así como la minimización de las afecciones en el tráfico y las molestias a los viandantes en torno al edificio. Este artículo, generado dentro del proyecto ROBIM financiado por Centro de Desarrollo Tecnológico Industrial en la Convocatoria CIEN 2016, presenta los avances tecnológicos producidos en los últimos años en las labores de inspección de fachadas yendo desde los procesos más manuales y costosos en tiempo y dinero hasta las últimas novedades existentes donde la automatización del proceso de inspección empieza a cobrar peso. En especial, el estudio se focaliza en analizar los diferentes robots existentes en el panorama internacional en tareas de inspección de superficies verticales, el conocer que tecnologías de fijación utilizan y cómo se trasladan a lo largo de la fachada.Palabras clave-Inspección, robot, rehabilitación, fachada.Abstract-The construction of increasingly higher buildings, the implementation of the ITV of buildings over 50 years and technological advances are three factors that make it increasingly interesting, and even necessary, the development of new inspection systems that facilitate said actions. The robotization in these tasks must lead to an optimization of the processes (less time, lower cost), reduction of occupational risks, as well as the minimization of traffic conditions and the inconvenience to pedestrians around the building. This article, generated within the ROBIM project funded by the Center for Industrial Technological Development in the CIEN 2016 Call, presents the technological advances produced in recent years in the inspection of facades from the most manual and costly processes in time and money to the latest news where the automation of the inspection process begins to gain weight. In particular, the study focuses on analyzing the different existing robots in the international landscape in vertical surface inspection tasks, knowing which fixing technologies they use and how they move along the façade.

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“…Early attempts used legged robots capable of climbing metallic-based structures [91], while the most modern systems uses suction [92] or negative pressure [93][94][95][96] devices to attach to structure walls.…”

Section: Other Related Robotic Systemsmentioning

confidence: 99%