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Design and analysis of a bisected wheel-based cable climbing robot

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Journal of Southeast University(English Edition) 2009年第1期25卷 41-46页

作者：徐丰羽王兴松许家林东南大学机械工程学院南京211189

To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed. The simple structure and the moving mode are described and the static features of the robot are analyzed. A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot. For safety energysaving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables. A simplified mathematical model is analyzed and the landing velocity is simulated. For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg. Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.

关键词： climbing robot energy-saving landing gas damper cable cable-stayed bridge

Optimization approach for a climbing robot with target tracking in WSNs

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Journal of Ocean Engineering and Science 2018年第4期3卷 282-287页

作者： Jerwin Prabu A Abhinav Tiwari Department of robotics and Electronics Engineering Bharati Robotic SystemsIndia Department of robotics and Mechanical Engineering Bharati Robotic SystemsIndia

climbing robots are being developed for various *** confined space requires a compact locomotion system with vertical and overhead climbing *** achieve surface transition,Steering geometry Interaction system and static force are *** ubiquitous infrastructure and excellent coverage,they can be used for providing location information for various location-based services,especially in indoor *** structure is designed for a magnetic wall-climbing robot to gradually decrease the magnetic force when it is transiting between perpendicular magnetic *** paper describes the design process of a magnetic wall climbing robot,which adopts SgI and has the potential to carry materials in a confined space with an energy efficient system *** resolve the problem of target tracking,it is essential to deploy a system *** the last two decades,several researchers have recommended many remote user authentication *** are continuously trying to enhance the security in material handling automation system by introducing several features into their work.A working prototype has been built based on the optimized dimension.

关键词： climbing robot Surface transition Wireless Sensor Networks(WSNs) Target Tracking Static Force Steering Geometry Interaction(SgI).

Model of tri-sectional wheel-based cable climbing robot and analysis of centrifugal safety landing method

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High Technology Letters 2011年第2期17卷 173-179页

作者：徐丰羽 Wang Xingsong School of Mechanical Engineering Southeast University Nanjing 210096 China

This paper proposes a new type of tri-sectional wheel-based cable climbing robot which is able to climb up vertical cylindrical cables of a cable-stayed bridge. The robot is composed of three pairs of wheels equally spaced circularly which are joined by six connecting boards to form a whole closed hexagonal body to clasp a cable. The whole design is entirely modular to enable to assenably the robot on-siteeasy eaoily. To analyze the static features of the robot, a mathematical model of climbing is deduced. Furthermore, taking a cable with a diameter of 80mm as an example, we calculate the design parameters of the robot. For safly landing in the case of electrical accident, a centrifugal speed regulator is proposed and applied to consume useless energy generated when the robot is slipping down along the cables. A simplified mathematical model of the landing mechanism is deduced. Finally, several experiments on the climbing mechanism demonstrate that the robot can carry payloads less than 2.2kg to climb up a cable with diameters varying from 65mm to 205mm.

关键词： climbing robot static features centrifugal speed regulator cable-stayed bridge

Analysis of Mechanical Adhesion climbing robot Design for Wind Tower Inspection

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Journal of Artificial Intelligence and Technology 2021年第4期1卷 219-227页

作者： Shyamal C.Mondal Patricio L.C.Marquez Mohammad Osman Tokhi School of Engineering London South Bank University103 Borough RoadLondon SE10AAUK

Maintenance of wind turbine farms is a huge task,with associated significant risks and potential hazard to the safety and well-being of people who are responsible for carrying the tower inspection *** inspections are required for wind turbine tower to ensure that the wind turbines are in full working order,with no signs of potential ***,the development of an automated wind tower inspection system has been very cnucial for the overall performance of the renewable wind power generation *** order to determine the life span of the tower,an investigation of robot design is discussed in this *** presents how a mechanical spring-loaded climbing robot can be designed and constructed to climb and rotate 360°around the *** adjustable circular shape robot is designed that allows the device to fit in different diameters of the wind generator *** rotational module is designed to allow the wheels to rotate and be able to go in a circular *** design further incorporates a suspension that allows the robot to go through any *** paper also presents a finite element spring stress analy sis and Simulink control system model to find the optimal parameters that are required for the wind tower climbing robot.

关键词： adhesion force spring stress analysis climbing robot wind turbine

An Autonomous Wall-climbing robot for Inspection of Reinforced Concrete Structures: SIRCAUR

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Journal of Artificial Intelligence and Technology 2021年第3期1卷 188-196页

作者： Gabriela Gallegos Garrido Tariq Pervez Sattar London South Bank University London South Bank Innovation CentreGranta ParkGreat AbingtonCambridge CB216ALUK

A wall-climbing inspection robot has been designed to climb on safety-critical concrete structures by adhering to reinforcement steel bars(rebars)using permanent magnets to generate the adhesion *** and experimental validation have been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30–35 mm of concrete cover over rebars arranged in different *** goal of adhesion force optimization is to be able to carry a ground-penetrating radar(GPR)sensor which detects rebar corrosion,concrete delamination,and concrete cover *** autonomous robot uses an ultra-wide band localization system and GPR data to control its motion trajectories to avoid regions where there is an insufficient density of *** testing(NDT)inspection data acquired by GPR are transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.

关键词： climbing robot GPR NDT FEA magnetic adhesion reinforced concrete UWB

Design of a Vacuum Adsorption Wall climbing robot

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Design of a Vacuum Adsorption Wall Climbing Robot

Intelligent Control for Wall climbing robot

作者： Xin-long CHEN Zhen-lin JIN Shan-wei LIAO Kai HE College of Mechanical Engineering Yanshan University Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China University of Petroleum Shenzhen Key Laboratory of Precision Engineering The Chinese University of Hong Kong

In this paper,a new type of wall climbing robot with multi vacuum suckers is *** robot structure and working principle are introduced in *** analysis of safe adsorption force of the wall climbing *** mechanical model of the suckers is *** adsorption force of the suckers is determined based on the *** robot prototype is *** a large number of experiments are carried out to verify the feasibility of the wall climbing *** experiments include robot wall adaptability test and maximum load capacity test,and *** experiments result show that the prototype can walk on the vertical wall of various *** experiment results of the prototype walking on the vertical steel plate surface show that the maximum load is 13 *** can span 20 x 8 mm cracks.

关键词： Vacuum adsorption climbing robot Adsorption force Wall adaptability Load capacity

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Intelligent Control for Wall Climbing Robot

Crawling gait realization of the mini-modular climbing caterpillar robot

2009中国控制与决策会议

作者： Jun Xiao~1,Hongguang Wang~2,Ning Xi~3 1.College of Information Science and Engineering,Northeastern University,China 110004 2.Shenyang Institute of Automation,Chinese academy of sciences,Shenyangl 10008,China 3.Michigan State University,Michigan State 48824,USA

＜正＞An intelligent control system is presented in this paper for a wall climbing *** the introduction of robot system design,a task reference method is proposed which is based on a fuzzy multi-sensor data fusion scheme. The method provides a novel mechanism to efficiently integrate task scheduling,action planning and motion control in a unified framework.A robot gait generation method is described which switches the robot locomotion between different motion modes with the help of a finite state machine driven by sensory *** results prove the validity of the proposed methods.

关键词： climbing robot data fusion gait

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Progress in Natural Science:Materials International 2009年第12期19卷 1821-1829页

作者： Wei Wang~(a,*),Kun Wang~a,Houxiang Zhang~b a robotics Institute,School of Mechanical Engineering and Automation,Beihang University,Beijing 100083,China b TAMS,Department of Computer Science,University of Hamburg,Vogt-Koelln-Strasse 30,Hamburg 22527,Germany robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing 100083 China TAMS Department of Computer Science University of Hamburg Vogt-Koelln-Strasse 30 Hamburg 22527 Germany

The concept of a modular climbing caterpillar robot is inspired by the kinematics of real *** typical kinematics models and gaits are investigated based on the crawling motion of the inchworm and the tobacco *** to the fixed constraints between the suckers and the wall,the gait of a caterpillar robot engages a changing kinematic chain which is from an open chain to a closed chain,and then to an open chain in *** the open chain periods,an unsymmetrical phase method(UPM) is used to ensure the reliable attachment of the passive suckers to the *** the closed-chain state,a four-link kinematics model is adopted to fulfill the fixed *** combining the two methods together,the complete joint control trajectories are acquired for a modular caterpillar robot with seven *** last,on-site tests confirm the proposed principles and the validity of the climbing gait.

关键词： climbing robot Modular Biologically inspired Gait

A Bionic Starfish Adsorption Crawling Soft robot

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Journal of Bionic Engineering 2024年第1期21卷 149-165页

作者： Xiangang Huang Chenghao Zhang Wenqi Feng Xiangye Zhang Deyuan Zhang Yanqiang Liu Institute of Bionic and Micro-Nano Systems School of Mechanical Engineering and AutomationBeihang UniversityBeijing 100191China

A variety of soft wall-climbing robots have been developed that can move in certain *** of these soft robots can only move on conventional surfaces and lack adaptability to complex *** the adaptability of soft robots on complex surfaces is still a challenging *** this end,we study the layered structure of the starfish tube foot and the valve flap structure in the water vascular system,and use an ultrasonic stress detector to study the stiffness distribution of the arm *** by the motion of the starfish,we present a bionic soft wall-climbing robot,which is driven by two groups of pneumatic feet and achieves body bending through active adaptation *** design the structure of the foot to flex to provide driving force,and there are suction cups at the end of the foot to provide *** soft foot has a simple structure design,adapts to a variety of surfaces,and does not damage the surface of the *** stiffness layers achieve stiffness changes by the principle of line *** Central Pattern Generator theory is introduced to coordinately control the multiple feet of the *** experiments,we verify the adaptability of the soft robot to curved *** research may provide a reference for the design and development of crawling soft robots on complex surfaces.

关键词： Starfish Tube foot Biomimetic robot Soft robot climbing robot