Service Robot for Motion on the Vertical Oriented Walls

Novotný, František; Horák, Marcel; Plavec, Martin

doi:10.4028/www.scientific.net/amm.282.39

Cited by 6 publications

(5 citation statements)

References 8 publications

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“…The vacuum chuck provides sufficient power and ensures the safety of the robot at the same time. [3][4][5][6][7] However, vacuum chucks are prone to problems such as poor sealing, vacuum leakage and decreased adsorption force, resulting in lower production efficiency and energy waste. Once the vacuum chuck fails, it may cause economic loss and casualties.…”

Section: Introductionmentioning

confidence: 99%

Design, experiment and adsorption mechanism analysis of bionic sucker based on octopus sucker

Cong

Kun

2019

Proc Inst Mech Eng H

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The vacuum chuck is widely used in industrial and daily life. By observing the macroscopic and microscopic morphology of octopus sucker, it is found that the sucker surface has concave–convex continuous wave shape with large number of non-smooth morphologies. The sealing mechanism of octopus sucker is analyzed according to its surface morphology before and after adsorption, and the non-smooth morphology is found to greatly enhance the adsorption. Based on the bionics theory, the non-smooth surface morphology of octopus sucker is applied to improve the sucker adsorption. And the bionic suckers with three types of grooves are designed. According to the model of standard and bionic suckers, the sucker entities are obtained by the method of three-dimensional printing and casting. And the tensile tests of suckers are carried out. The stress of suckers is analyzed by finite element method, and the sealing mechanism is discussed. According to the test results, the bionic sucker has larger adsorption force. And the ring sucker possesses the best adsorption performance. Compared with the standard sucker, the maximum adsorption force of the bionic sucker is increased by 12.2% in the air and 25.2% underwater. The adsorption force of bionic sucker becomes larger with the increase in the groove number; when the groove number increases to a certain extent, the adsorption force becomes smaller. The deformation of non-smooth morphology during adsorption makes the bionic sucker have a larger contact area. That is the reason why the bionic sucker has good adsorption performance. The bionic design of sucker can provide a new method to improve its adsorption.

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Section: Introductionmentioning

confidence: 99%

Design, experiment and adsorption mechanism analysis of bionic sucker based on octopus sucker

Cong

Kun

2019

Proc Inst Mech Eng H

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“…At Technical University of Liberec the multipurpose and partly self-contained robot concept ROBOTUL ® Vertical Climber 02 (Fig. 1) which consists of a basic motional module and connectible functional extensions [1,2,3]. The robot effective carrying capacity is 15 -20 kg, its declared speed of movement is 0.8 -1.2 m.min -1 depending on the technology realized.…”

Section: Introductionmentioning

confidence: 99%

Aspects of a Safety Operation of Service Robots on Glass Walls

Horák

Novotný

Starý

et al. 2015

AMM

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The paper focuses on problems of the safety operation of service robots on glass facades of high-rise buildings exposed to a local additional load during the robot motion and any subsequent service operation (e.g. cleaning, diagnostics, mounting). Owing to afraid of a possible glass cracking and a subsequent destruction, the authors pay attention to an analysis of the strength of façade glass sheets being in contact with the robot holding-down vacuum system as well as with the supporting steel construction. With a view of appraising a state of stress, a computer model was build up respecting the real composition of façade glass, material properties and contact edge conditions. The paper presents achieved results by means of graphic outputs, and in conclusion, it discusses them with aim to supply owners of service robots from a sphere of the building administration a number of details.

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“…The program is divided up into several independent logic structures for which partial function In view of the carrying capacity, respectively, the platform weight minimization, the frame (Figure 4, pos. 1) strength was analyzed [17]. Based on this analysis, a minimum thickness of the frame bearing profiles wall and connecting plate was predicted, considering tilting moment 40 Nm in the presumptive mass center distance 100 mm and the total weight of 41 kg.…”

Section: Second Generation Of the Service Robotmentioning

confidence: 99%

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

Horák¹,

Novotný²,

Starý³

2018

Service Robots

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This chapter is focused on the area of mobile systems of service robots for motion on the vertically oriented glass walls (e.g., facades of high-rise building) with the aim of their using in many inspection and technological applications. Preliminary part clearly maps the basic mechanical principles and approaches to mobile platform design with respect to the concept of kinematic chain and type of actuators. Conclusions of extensive research activities are presented, and on this background, the new design development of mechanics of robot mobile platform was made and uses two parallel placed parallelograms. The control system is based on an industrial computer, includes a module for wireless communication, and is equipped with a laser and an ultrasonic position sensor. Movement members are equipped with individual electric actuators and vacuum gripping system, which consists of smart ejectors in combination with active suction cups. Given that the load character of the suction cups during the robots movement on the vertical wall is very unfavorable, considerable authors' attention has been paid to the analysis of the deformation behavior of suction cups so as to determine the limits of external radial load to the stable contact, and discusses the possibility of increasing the radial load of gripping elements in relation to the contact surfaces character and vacuum levels.

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Service Robot for Motion on the Vertical Oriented Walls

Cited by 6 publications

References 8 publications

Design, experiment and adsorption mechanism analysis of bionic sucker based on octopus sucker

Design, experiment and adsorption mechanism analysis of bionic sucker based on octopus sucker

Aspects of a Safety Operation of Service Robots on Glass Walls

Service Robots for Motion and Special Applications on the Vertical Oriented Walls

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