3,280 research outputs found
The Problem of Adhesion Methods and Locomotion Mechanism Development for Wall-Climbing Robots
This review considers a problem in the development of mobile robot adhesion
methods with vertical surfaces and the appropriate locomotion mechanism design.
The evolution of adhesion methods for wall-climbing robots (based on friction,
magnetic forces, air pressure, electrostatic adhesion, molecular forces,
rheological properties of fluids and their combinations) and their locomotion
principles (wheeled, tracked, walking, sliding framed and hybrid) is studied.
Wall-climbing robots are classified according to the applications, adhesion
methods and locomotion mechanisms. The advantages and disadvantages of various
adhesion methods and locomotion mechanisms are analyzed in terms of mobility,
noiselessness, autonomy and energy efficiency. Focus is placed on the physical
and technical aspects of the adhesion methods and the possibility of combining
adhesion and locomotion methods
Design and optimal springs stiffness estimation of a Modular OmniCrawler in-pipe climbing Robot
This paper discusses the design of a novel compliant in-pipe climbing modular
robot for small diameter pipes. The robot consists of a kinematic chain of 3
OmniCrawler modules with a link connected in between 2 adjacent modules via
compliant joints. While the tank-like crawler mechanism provides good traction
on low friction surfaces, its circular cross-section makes it holonomic. The
holonomic motion assists it to re-align in a direction to avoid obstacles
during motion as well as overcome turns with a minimal energy posture.
Additionally, the modularity enables it to negotiate T-junction without motion
singularity. The compliance is realized using 4 torsion springs incorporated in
joints joining 3 modules with 2 links. For a desirable pipe diameter (\text{\O}
75mm), the springs' stiffness values are obtained by formulating a constraint
optimization problem which has been simulated in ADAMS MSC and further
validated on a real robot prototype. In order to negotiate smooth vertical
bends and friction coefficient variations in pipes, the design was later
modified by replacing springs with series elastic actuators (SEA) at 2 of the 4
joints.Comment: arXiv admin note: text overlap with arXiv:1704.0681
A concept selection method for designing climbing robots
This paper presents a concept selection methodology, inspired by the Verein Deutscher
Ingenieure (VDI) model and Pugh's weighted matrix method, for designing climbing robots
conceptually based on an up-to-date literature review. The proposed method is illustrated with a case study of ongoing research, the investigation of an adaptable and energetically autonomous climbing
robot, in Loughborough University
Flora robotica -- An Architectural System Combining Living Natural Plants and Distributed Robots
Key to our project flora robotica is the idea of creating a bio-hybrid system
of tightly coupled natural plants and distributed robots to grow architectural
artifacts and spaces. Our motivation with this ground research project is to
lay a principled foundation towards the design and implementation of living
architectural systems that provide functionalities beyond those of orthodox
building practice, such as self-repair, material accumulation and
self-organization. Plants and robots work together to create a living organism
that is inhabited by human beings. User-defined design objectives help to steer
the directional growth of the plants, but also the system's interactions with
its inhabitants determine locations where growth is prohibited or desired
(e.g., partitions, windows, occupiable space). We report our plant species
selection process and aspects of living architecture. A leitmotif of our
project is the rich concept of braiding: braids are produced by robots from
continuous material and serve as both scaffolds and initial architectural
artifacts before plants take over and grow the desired architecture. We use
light and hormones as attraction stimuli and far-red light as repelling
stimulus to influence the plants. Applied sensors range from simple proximity
sensing to detect the presence of plants to sophisticated sensing technology,
such as electrophysiology and measurements of sap flow. We conclude by
discussing our anticipated final demonstrator that integrates key features of
flora robotica, such as the continuous growth process of architectural
artifacts and self-repair of living architecture.Comment: 16 pages, 12 figure
Climbing Robot for Steel Bridge Inspection: Design Challenges
Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges
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