Obstacle-Overcoming and Stabilization Mechanism of a Rope-Riding Mobile Robot on a Façade

Lee, Kyunguk; Ko, Kyoungmin; Park, Sung-Jun; Kim, Hwa Soo; Seo, TaeWon

doi:10.1109/lra.2021.3139953

Cited by 5 publications

(1 citation statement)

References 14 publications

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“…Furthermore, their adhesion to the structure’s wall requires them to overcome or steer around obstacles on the structure’s wall, such as structural supports, other protruding objects or void spots, such as pipe entrances. Another class of assistive devices are suspended robots (Barry et al , 2016; Lee et al , 2022). These are an attractive option for inspecting structures due to their low cost, high payload and large workspace.…”

Section: Introductionmentioning

confidence: 99%

Design and performance of a slender soft continuum manipulator for tall structure inspection

Shoani

Ribuan

Faudzi

2023

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Purpose The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented challenges through a teleoperated soft continuum manipulator capable of inspecting tall or deep structures with high resolution, an unlimited operation time and the ability to use different arms of the manipulator for different environments and structure sizes. Design/methodology/approach The teleoperated manipulator uses one rotary and two tendon actuators to reach and inspect the interior of a tall (or deep) structure. A sliding part along the manipulator’s body (arm constrainer and tendon router) induces a variable-length bending segment, allowing an inspection camera to be placed at different distances from the desired location. Findings The experiments confirmed the manipulator’s ability to inspect different locations in the structure’s interior. The manipulator also demonstrated a submillimeter motion resolution vertically and a 2.5 mm per step horizontally. The inspection time of the full structure was 48.53 min in the step-by-step mode and was calculated to be 4.23 min in the continuous mode. Originality/value The presented manipulator offers several design novelties: the arm’s thin-wide cross-section, the variable-length bending segment in a fixed-length body, the external rolling tendon routing and the ability to easily replace the arm with another of different material or dimensions to suite different structures and environments.

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Section: Introductionmentioning

confidence: 99%