Development and applications of wall climbing robots with a single suction cup volume 22 issue 6 yanzheng zhao, zhuang fu, qixin cao, yan wang skip to main content accessibility help we use cookies to distinguish you from other users and to provide you with a better experience on our websites. Finally, we realize ground travel and vertical wall climbing by passive adhesion. Nowadays, wall climbing robots using negative pressure suction always use air pumps, which has a large noise, and too big to be used in miniature robot. Design, fabrication and testing of a miniature wall climbing. The air removal from suction cups is completed using a vacuum pump, controlled by solenoid valves. Finally, the prototype of the wall climbing robot is manufactured and tested, and the experimental results show that the robot could climb the wall surface 0360 with a maximum load of 0. Our project deals with the fabrication of the wall climber robot. The robot will continue the process for forward and reverse movement. May 01, 1996 the suction cup is a rigid body and the intensity ny of normal force fbetween the suction cup and the contact surface fn,ff. Each of these mechanisms has some advantages and drawbacks. This paper describes the design, kineostatic and safety analysis of a two legged mobile robot that can climb from one surface to another surface by using suction. While each tracked wheel rotates, the suction pads which attach to the vertical plane are activated in sequence by specially. A prototype of a wallclimbing robot that utilizes passive suction cups and one motor is used to. Active suction cups requires additional energy from the.
Pdf wall climbing robot for inspection of wall using. Development of a wallclimbing robot using a tracked wheel. It uses active suction cups as the attaching components and servo motors and vacuum pumps to generate motion and adhering capabilities. Wall climbing robots using active suction cups possess the advantage that the status of attachment and detachment can be easily controlled. This paper describes the design, kineostatic and safety analysis of a two legged mobile robot that can climb from one surface to another surface by using suction cups. This paper presents a wall climbing robot which adopts passive suction cups as the attaching components. Here, we report a tethered soft robot capable of climbing walls made of wood, paper, and glass at 90 with a speed of up to 0. Passive suction cups do not consume additional energy to keep adhesion.
At this state the suction cups of 2 rotation legs will stick on the surface of wall. Introduction autonomous microrobots, equipped with smart sensors, actuators and energy scavenging devices, are expected to use new walking, rolling, climbing, jumping and flying techniques. I have estimated the total weight of all the parts of the robot to be around 700 grams in weight. Suction cups create a vacuum pressure used to stick with vertical or inclined surface. There are 10 suction cups under each disc, which makes a total of 20 suction cups. May 11, 2019 it has a flexible body, made of a material used for shower hose, and two suction cups. Design, fabrication and testing of a miniature wall. Thanks to its flexible body structure and the suction cups, the robot has successfully climbed a vertical wall and even reached to the other side of the wall.
Other technologies that have been employed include. Each belt carries 12 suction pads, totally 24 suction pads. A prototype of a wall climbing robot that utilizes passive suction cups and one motor is used to. Design of a wallclimbing robot with passive suction cups ieee. Modelling and realization of pneumatics based wall climbing. Cleanbot ii 14, which employs a chain track on which 52 suction cups are. Abstracta wall climbing robot is a robot with the capability of climbing vertical surfaces. The robot platform uses two tracks with twelve suction cups on each track, and these suction cups are activated by a novel mechanical valve design. This paper describes a climbing robot, using chaintrack as the locomotive mechanism and suction cups as the adhesion method. Development of a tracked climbing robot springerlink. Jul 14, 2018 advantages of pneumatic powered wall climbing robot.
A miniature wall climbing robot equipped with two smart robotic feet srf is developed and tested. International journal of engineering research and general. Therefore, it does not need any more actuators only for attaching and detaching. Pdf design and development of a wall climbing robot and its. This robot can reach a maximum speed of 3 mmin and has the ability to cross cracks and obstacles less than 35mm in height and 80mm in width.
Modelling and realization of pneumatics based wall. Sensor technologies for civil infrastructures, volume 1. The advantages of the technologies that use climbing and walking robots consist mainly of two aspects. This paper proposes a glass wall climbing robot that is intended for cleaning curtain glass wall. Pdf development of a wallclimbing robot using a tracked. Pdf design and suction cup analysis of a wall climbing.
Such robots will lead to new future applications in unprecedented areas. The robot can turn in a limited range by adjusting the steering wheel and twisting the chain. Pneumatically operated wall climbing bot mainly composed of two limbs. Robot, wall climber, suction cup, smart robotic foot 1. Wallclimbing robot inspired by the soft body of a leech. Application of pneumatic powered wall climbing robot.
Sliding suction cup showing the front on the left and the rear with air motor. Pneumatic powered wall climbing robot report pdf and ppt. The concept of a wall climbing robots wcr is based upon the basic principle of locomotion of lizards in wall. Electroadhesive robots a wall climbing robots enabled by a. The turning gait is discussed and relations between turning. A microcontroller is used to control the relays that in turn switch electricity to solenoid valves. Pdf development of a climbing robot with vacuum attachment. While climbing the robot in the wall if any obstacle is detector sensor the robot find the obstacle, turn and in the forward direction. Wireless controlled pneumatically operated wall climbing robot mechanical project pneumatic circuit.
Model of wall climbing robot in our wall climbing robot four wheels and 24 suction pads are placed. A climbing robot for cleaning glass surface with motion. For the interior platform are used the suction cups 4 and for the. Three artificial constraint equations are derived to create the working jacobin matrix, and then a progam is written to calculate the reaction and actuator force moment, based. This robot is a suction type of wall climbing robot. Based on the results of interdisciplinary fields like. Dec 11, 2014 the wall climbing robot wcr having capability that it can stick on a vertical as well as inclined surface and can easily move over the surface.
The force pushes the robot towards the wall till the suction cup becomes attached to it. The proposed robot can move on a wall by attaching suction cups to the wall and removing them from the wall. We are required to design and create a wall climbing robot which uses suction as a means of sticking to the wall. Fluid model of sliding suction cup of wallclimbing robots. Robot using piab suction cup and vacuum ejector at. In practice, that means a wall climbing robot using this technique will need a whole lot of water to roam around. After a few seconds, the suction cups of 2 nonrotational legs will release it contact to the surface of wall. The main structure, sensors, and the visionbased motion control system of the robot are described in the paper. Robotics free fulltext a survey of wall climbing robots. The robots locomotion is performed using rack and pinion mechanism and adhesion to wall is performed by sticking using suction cups.
In addition, the normal force and motor torque are evaluated respectively. As well as designing a wall climbing robot, a control architecture based on fuzzy logic has been developed xiao, 2002, xiao et al. Each belt carries 12 suction pads, totally 24 suction. Once the suction cup is depressurized we have to stick the robot for next movement again pressurizes the suction cup for some delay. To overcome these disadvantages, a robot named dexter who gets suction force by pressing passive suction cups to wall using a motor has been designed werner, b. The targeted capability to stick with surface can be achieved by either suction cups or electrostatic chucks. Development and applications of wallclimbing robots with a. The robot s motion is driven by two servo motors which are electronically linked and. In the case dominant radial loading of suction cups, it is necessary the standard safety level value to increase by approximately 60%.
In this paper, wallclimbing robots with a single suction cup are studied. Development and applications of wallclimbing robots with. While climbing the robot in the wall if any obstacle is detector sensor the robot find. Bioinspired miniature suction cups actuated by shape memory. Suction cups can be divided into active suction cups and passive suction cups. During navigation wall climbing robots carry instrument hence they should have the capability to bear high payload with lower self weight. Development of a small legged wall climbing robot with. So there are two belts which are connected on both sides of the wheels. Development of a bioinspired wallclimbing robot composed of. A wall climbing robot based on negative pressure suction is designed, modeled and analyzed for service inspection of glass walls. Jan 31, 2009 in this paper, a new concept of a wallclimbing robot able to climb a vertical plane is presented. Therefore, the proposed robot can realize the climbing motion on a wall with relatively low energy consumption.
Then we optimize the leg trajectory by a genetic algorithm ga and design the simple and light detachment mechanism by which a string pulls the edge of the. Air powered mini wall climbing robot innovative mechanical. Jan 20, 2020 while the wall climbing robot is one of the more useful applications for the technology, its possible that it could be used in other situations where suction cups are difficult to apply. Design, fabrication and testing of a miniature wall climbing robot. Two major problems faced are inadequate ringseal decompression in suction cups and suction cup slippage 1. Experiments indicate that the suction cup can be used as an adhesion mechanism for miniature wall climbing robots, and the miniature robot prototype with. Generally, the wcr with multi suction cups adopted legged or crawling mechanism guido, l.
This project is based on a climbing robotic system aimed to clean glasses of highrise buildings, using suction cups for adhering to the glass. A continuous locomotive motion with a high climbing speed of 15mmin is realized by adopting a series chain on two tracked wheels on which 24 suction pads are installed. Design and suction cup an alysis of a w all climbing robot 209 yingjie li was born in sicuan, china, on april 3, 1963. Wireless controlled pneumatically operated wall climbing robot. Development of a bioinspired wallclimbing robot composed. Here, to use the scale effect advantage, we fabricate the hexapod robot based on the cmscale. Wall climbing robot, locomotion, adhesion, suction cup, whitworth quick. Suction cups work only on smooth and non porous surfaces, and magnetic wheel versions work only on ferromagne tic walls, both severe limitations in many cases. The position sensors are used to sense any things blocking its path while it is climbing up, therefore it can be rotated left, right, up and down. Development and applications of wallclimbing robots with a single. This paper proposes a glasswall climbing robot that is intended for cleaning curtain glass wall. This type of robots are suitable for inspecting confined spaces and. Robot using piab suction cup and vacuum ejector at fachpack. The suction cups are used to stick on to the surfaces.
In this paper, a new concept of a wall climbing robot able to climb a vertical plane is presented. This model show how the mechanisms in the robot will work and how they are assembled together. Firstly, the robot is attached to a wall by pushing and attaching suction cups on the bottom. However, using a chaintrack as the locomotive mechanism, tracked climbing robots are better able to avoid obstacles and adhere to the surface. Bioinspired miniature suction cups actuated by shape. A model of the robot is fabricated in a workshop using general tools. Then we optimize the leg trajectory by a genetic algorithm ga and design the simple and light detachment mechanism by which. The suction will be provided by an electric ducted fanedf attached to a motor. It is controlled autonomously by a pic16f876 microcontroller and a 6 volt power supply onboard.
Design and suction cup analysis of a wall climbing robot. The main advantages of the proposed robot are relatively small thickness which can allow greater payload with a given set of suction cups, easy attachment and detachment, and lower energy consumption. The robot is a 2 dof open link mechanism which has 2 suction grippers, one at each end. Suction cups are attached to the bottom of this disc. Researchers have developed various types of wall climbing robot models after the very first wall climbing robot dated back to 60s,developed by nishi based on single vacuum suction cup. Suction cup robot climbs nonmagnetic surfaces zdnet. Pdf the problem of a wall climbing robot is holding on the wall. A pressing attachment approach for a wallclimbing robot. Each srf contains a suction cup with a diameter of 40 mm, a vacuum pump, a pressure sensor, and a micro valve.
The robot has six legs assembled by a fourbar linkage mechanism. If it is desired for the robot to climb a right angle surface, first the right suction cup is attached on the surface step 1 in fig. A robot from yaskawa at fachpack 2015, in germany, using piabs configurable suction cup pigrip and vacuum ejector picompact10x. This paper describes the design and fabrication of a quadruped climbing robot.
To increase the reliability of the holding of the robot is attempted with multiple cups by providing multilegged wall climbing robot which latches to a. A portable climbing robot used two legs that could adhere to a surface by suction cups bahr and wu, 1994. The lizards possess suction cups along their limbs, which makes them able to move through any vertical surface. Pdf design, fabrication and testing of a miniature wall. For activating suction cups, activation switches are used. A wallclimbing robot or mobility platform able to ascend and descend various horizontal and vertical surfaces having a chassis, a rotor rotatable with respect to the chassis, one or more prominences on the rotor, and means for adhering to a surface attached to the prominences. Nov, 20 by applying these functions of common suction cups, the proposed robot can attach and detach suction cups using a motor. A miniature wall climbing robot with biomechanical suction cups.
May 02, 2019 the suction cups are passive, meaning they dont require a vacuum pump, reducing weight and power consumption, which are longstanding enemies of robots. Dec 19, 2018 existing robots capable of climbing walls mostly rely on rigid actuators such as electric motors, but soft wall climbing robots based on musclelike actuators have not yet been achieved. The sliding suction cup when used underwater experienced very little friction and made very good sealing contact with the wall. This suction cup robot can climb just about any wall. The robot is capable of elongating and bending its body without any constraints, just like a leech. He has been invited to speak about the climbing robot at many organizations and conferences. Dr bahr is one of the pioneers in development of climbing robots for aircraft insepction. Since we use suction cup, the robot has good grip on wall. This paper presents a wall climbing robot for crack detection on the surface of the wall.
Pdf the problem of a wallclimbing robot is holding on the wall. Wall climbing robots using active suction cups possess the advantage that the status of attachment and. In general these robots use three types of adhesion mechanism like vacuum suction wall crawler robot shown in figure l. This robot can reach a maximum speed of 3 mmin and has the ability to cross cracks and obstacles less than 35mm in height and 80mm in. Statics and kinetics analysis are conducted in order to guarantee. Gripping of the robot to the wall was achieved using suction cups va. Wall climbing robot, locomotion, adhesion, suction cup, whitworth quick return mechanism, rack and pinion.
Initially the robot is fixed in the vertical wall using the. Design of a wallclimbing robot with passive suction cups. Pdf design and development of a wall climbing robot and. And the arrangement is made such that, at a time 4 suction cups from each disc gets active. Design of a wall climbing robot with passive suction cups. The suction pads are connected perpendicular to the belt.
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