2021
DOI: 10.17587/mau.22.585-593
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Walking Robot for Moving on Vertical and Arbitrarily Oriented Surfaces

Abstract: The article deals with the design of a walking robot with gripping devices that allow the robot to move on arbitrarily oriented surfaces in space. Such robots are relevant primarily for the inspection of various industrial structures. A model of a two-support robot with gripping devices that allow it to be attached to support surfaces with a small curvature, but arbitrarily oriented in space, is proposed. To ensure attachment to the support surfaces, the robot is designed with five degrees of freedom. An impor… Show more

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Cited by 1 publication
(1 citation statement)
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“…A common problem of such robots is the need to consider undesirable forces and moments when gripping devices (GDs) engage the supporting surface, which requires the introduction of pliability in the robot actuators [7,11]. This problem can be solved by estimating the forces and moments in the manipulator links using the currents of the actuating collectorless motors [12][13][14][15][16][17].…”
Section: Introductionmentioning
confidence: 99%
“…A common problem of such robots is the need to consider undesirable forces and moments when gripping devices (GDs) engage the supporting surface, which requires the introduction of pliability in the robot actuators [7,11]. This problem can be solved by estimating the forces and moments in the manipulator links using the currents of the actuating collectorless motors [12][13][14][15][16][17].…”
Section: Introductionmentioning
confidence: 99%