Mechatronics Drive for Intelligent Wall Climbing Robot

Abstract

A new type of mechatronics drive is proposed for an intelligent wall climbing robot in order to satisfy strong load characteristics with velocity and force control on a large scale. The mechatronics drive consists of a pneumatics force piston-cylinder system, electromechanical subcontrol system, and electronic microprocessor control system. The power of mechatronics drive is achieved by means of a pneumatic force piston, and control is attained by internal and external feedback loops of the electromechanical system. The microprocessor system is intended for programming motion. The control moment transmitted from the electromechanical system to the self-braking worming mechanism and gears to the pneumatic piston. The sensory system measures the required parameters as position, pressure, and force. The pneumatic cylinder is mounted on the board of mobile robot. Data of the simulation and experimental investigation of the drive are presented. As the result of investigations, the drive realized the application for the intelligent wall climbing robot for the transportation the loads of more than 100kg on vertical surfaces.

Mobile climbing robot with energy recovery

“…The fundamentals of climbing robots modeling are rather widely described in works [1,2,3], though without solving the problem of reusing energy of motion. Modeling of vertical moving robots is devoted to [4,5,6], however without solving the problem of energy consumption of motion. Studies [7,8,9] contain descriptions of various models of robots.…”

Parametrical analysis of vacuum contact devices for wall climbing robots

“…Selection of vacuum source depends on condition of application. However changing of forces as a result of variable pressure and parametrical analysis of VCD have not been developed yet in early known publications [9][10][11][12][13][14].…”

Climbing Robots with Adaptive Grippers for Construction

“…The problem like above solved by various ways, including application of artificial intelligent. The elements of artificial intelligent behavior are necessary also to satisfy WCR motion on unstructured or dynamically changing environment, such as some special situations, for example, firefighting, or decontamination of the wall surfaces [13][14][15][16][17][18][19][20][21][22][23][24], or for inspection of underwater constructions [25][26][27][28].…”