Design and suction cup analysis of a wall climbing robot

Theoretical model of the grasp with vacuum gripper

“…The model and the kineostatic analysis of the climbing robot were proposed by Bahr et al [14,21] and Tummala [22]. During the motion of an object held by a suction cup, often a torsional torque also emerges on the suction cup whose equilibrium relies on the friction force between suction cup and object.…”

“…The recent applications of vacuum suction are related to wall surface mobile robot with vacuum gripper feet [14][15][16][17][18].…”

Fluid Model of Sliding Suction Cup of Wall-climbing Robots

“…Most of them are focused on the stress analysis and the structure design. The design, kinetostatic and safety analysis of a WCR with two suction cups were presented when the WCR climbs from one surface to another surface (Bahr,B.,1996). The NINJA-1 had a VM (valve-regulated multiple) sucker which can provide suction force even if there are grooves and small differences in level of the wall (Hirose, S.,1991).…”

Disturbance-Observer-Based Robust Control of a Serial-link Robotic Manipulator Using SMC and PBC Techniques

“…Robotic manipulators are considered as an integral part of such production lines as they offer potential advantages like accuracy, repeatability, throughput, swiftness, reliability and safety [2]. Furthermore, they can work in hazardous places where environment is harmful for human health [3]. Robots now perform various jobs ranging from simple task of pick and place to more sophisticated tasks like welding and cutting in automation industry [4].…”