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General information |
| Author |
Xu, Fengyu; Jiang, Guoping; Wang, Xingsong |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
Wall‐climbing robots have extensive applications,
however, no effective adhesion system has been designed
for robots deployed in high‐altitude, rough concrete
buildings that are subjected to large wind loads and
vibrations. This paper proposes a new suction method based
on a mechanism utilizing hook‐like claws and presents the
design of a robot system for inspecting rough concrete walls.
We present a method for describing the degree of concrete
surface roughness. To study the stress imposed on the hooklike
claws, we propose two types of mechanical models for the
interactions between sharp claws and microprotuberances.
The design method for the tips of the sharp claws is then
established. Finally, an 8‐foot wall‐climbing robot based on a
mechanism utilizing hook‐like claws is designed and
laboratory experiments on a man‐made concrete wall are
conducted. The results indicate that the low‐cost system
endows the robot with enhanced climbing stability and
satisfies the inspection requirements for tower constructed
by water brush stone or bricks. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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