Steerable dry-adhesive linkage-type wall-climbing robot

Liu, Yanheng; Lim, Byoung-Duk; Lee, Jeh Won; Park, Jihyuk; Kim, Taegyun; Seo, TaeWon

doi:10.1016/j.mechmachtheory.2020.103987

Cited by 30 publications

(11 citation statements)

References 17 publications

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“…Various options have been used, including suction cup crawler adhesion, 8–15 magnetic adhesion, 16–19 and suction cup adhesion 16,18,20,21 as shown in Figure 2. Furthermore, we utilized a dry adhesive approach to develop a wall-climbing robot that can move at a speed of 13.3 m/s and steer stably at a narrower angle of 55° for 5 s, as reported by Liu et al 22 and Xu et al 23 However, the wall-climbing robot developed in this study has a highly complex structure and a high production cost, making it unsuitable for completing the prescribed duties unless sufficient funding is available. According to Yi et al, 24 a vacuum approach was used to develop a robot system.…”

Section: Introductionmentioning

confidence: 99%

Design and simulation of a wall-climbing robot car using 3D printing technology and the vacuum method

Pham,

Nguyen,

Nguyen

et al. 2023

Advances in Mechanical Engineering

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This paper presents a novel approach to building a vertical wall-climbing robot using the vacuum method and the internal contact model. By leveraging advanced 3D printing technology, the proposed robot model addresses three key challenges encountered in previous studies: achieving high traction force for smooth and efficient movement, ensuring low roughness and fast shifting capability, and minimizing production costs for mass deployment. The vacuum suction method employs an air compressor to generate suction force, enabling the robot to ascend walls vertically. This process significantly increases airflow velocity, creating a low-pressure area that enhances adhesion to the surface. The utilization of 3D printing technology allows for the creation of the robot’s bodywork and essential components, facilitating adjustments in the mechanical system design. The developed robot is well-suited for inspecting and maintaining hazardous areas in tall buildings and conducting surveillance in factory settings. Moreover, it proves valuable for cleaning and monitoring slippery surfaces with minimal roughness. The research findings demonstrate that incorporating 3D printing technology in the design and construction of wall-climbing robots has successfully achieved the desired speed and grip capabilities.

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Section: Introductionmentioning

confidence: 99%

Design and simulation of a wall-climbing robot car using 3D printing technology and the vacuum method

Pham,

Nguyen,

Nguyen

et al. 2023

Advances in Mechanical Engineering

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“…The climbing robot with a suction cup has a relatively small adsorption force and cannot be used in a heavy load environment, and a smooth adsorption surface is required. 10 –13 Active suction climbing robots have greater adhesion and can be applied to rough surfaces, but they are noisy. 14 –16 Both suction cup and active suction require a smooth climbing surface. Mechanical attachment: This attachment method mainly uses a holding device or a claw mechanism to generate adhesion, so that the climbing robot climbs on the surface of the object.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A low-cost single-motor-driven climbing robot based on overrunning spring clutch mechanisms

Liu

Yang

Wang

et al. 2022

International Journal of Advanced Robotic Systems

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Forestry monitoring and high-voltage cable inspection demand on low-cost climbing robots. The proposed climbing robot has simple control and low cost, enabling loaded, which drives by a single motor. Based on the overrunning spring clutch mechanisms, two motions of holding and climbing are realized by one motor. A rope-driven gripper is for adaptive enveloping holding effectively and a thron wheel is used to attach the climbing surface and stable climbing. The design parameters of the overrunning spring clutch mechanism and the rope-driven gripper are determined. The prototype and experiment setup are built. The enveloping holding experiment is carried out to verify the holding stability and shape adaptability of the rope-driven gripper. The trunk and pipe climbing experiments verify the climbing performance of the climbing robot and its application prospects with a certain load. In the future, as a low-cost climbing robot, a camera or operating mechanism can be equipped for tasks.

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“…[8][9][10][11] The bionic adhesion wall climbing robot is mainly used in the case of bonding bionic materials and hooking imitating animal hooks. [12][13][14][15][16] In fact, the bionic materials research cost is high, the adhesive material cannot be cleaned by itself, and it is easy to desorb during use. If the hooking structure is adopted, the drive control of the robot mechanism will be complicated.…”

Section: Introductionmentioning

confidence: 99%

Analysis and experimental research on motion stability of wall-climbing robot with double propellers

Liang

Gao

Zhang

et al. 2021

Advances in Mechanical Engineering

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This paper presents a wall-climbing robot which can stably hold and move on the ground-wall surface. The robot uses propeller reverse thrust as an adsorption force and can adapt to the surface of several media materials. The influence of the robot’s structural parameters on its power system is analyzed by comparing a single power system test and a robot prototype power test. A structural analysis of the robot is performed under two specific situations; when he is in transition from the ground to a small slope, and when he is on the slope. The force state of the robot is then obtained in different conditions. Experimental results show that the adjustment range of different rotor inclination angles of the robot, the width of the fixed rotor plate and the different near-ground distances, affect the traction of the robot. The robot motion performance and adaptability under different ground/wall environments are analyzed, by conducting the robot climbing experiment under a small slope, a vertical wooden wall surface and a vertical indoor wall surface. Stable adsorption and optimization tests are also performed. Moreover, the stability of the robot’s motion is verified. Finally, a theoretical and experimental accumulation is laid for the realization of the smooth transition of the robot from the ground to the wall.

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Steerable dry-adhesive linkage-type wall-climbing robot

Cited by 30 publications

References 17 publications

Design and simulation of a wall-climbing robot car using 3D printing technology and the vacuum method

Design and simulation of a wall-climbing robot car using 3D printing technology and the vacuum method

A low-cost single-motor-driven climbing robot based on overrunning spring clutch mechanisms

Analysis and experimental research on motion stability of wall-climbing robot with double propellers

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