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Design and analysis of a negative pressure wall-climbing robot with an omnidirectional characteristic for cylindrical wall

Published online by Cambridge University Press:  05 June 2024

Chunyang Yuan Open the ORCID record for Chunyang Yuan [Opens in a new window] ,
Yong Chang ,
Yifeng Song ,
Song Lin  and
Fengren Jing
Chunyang Yuan
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Yong Chang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
Yifeng Song*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
Song Lin
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China University of Chinese Academy of Sciences, Beijing, China
Fengren Jing
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
*
Corresponding author: Yifeng Song; Email: songyifeng@sia.cn
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Abstract

A negative pressure wall-climbing robot is a special robot for climbing vertical walls, which is widely used in construction, petrochemicals, nuclear energy, shipbuilding, and other industries. The mobility and adhesion of the wheel-track wall-climbing robot with steering-straight mode are significantly decreased on the cylindrical wall, especially during steering. The reason is that the suction chamber may separate from the wall and the required driving force for movement increases, during steering. In this paper, a negative pressure wall-climbing robot with omnidirectional movement mode is developed. By introducing a compliant adjusting suction mechanism and omni-belt wheels, an omnidirectional movement mode is formed instead of the steering-straight mode, and the performances of adhesion and mobility are improved. We establish the safety adhesion model for the robot on a cylindrical wall and obtain the safety adhesion forces. We designed and manufactured an experimental prototype based on the analysis. Experiments showed that the robot has the ability of full maneuverability in cylindrical walls.

Keywords

wall-climbing robotomnidirectional locomotion modecylindrical wallenvironment adaptation
Type
Research Article
Information
Robotica , Volume 42 , Issue 7 , July 2024 , pp. 2226 - 2242
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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