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Concerning a Technique for Increasing Stability of Climbing Robots

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Abstract

Legged-climbing robot is considered. Each foot of the robot has an electromagnet system for robot"s holding on a metal surface. This surface can be both vertical and inclined, including negative slope. Analytical calculation of robot stability under turn over or sliding conditions has been made. Critical slopes have been determined. One of these slopes corresponds to minimal reserve of robot stability towards sliding and another to minimal reserve of robot stability towards turning-over. As total reserve of stability of a robot is always equal to the minimal one of these reserves. Additional support elements of elastic material with high coefficient of friction, along with electromagnet, allows to increase minimal reserve of robot stability towards sliding. The use of such support elements leads to redistributing force of normal support reaction between electromagnet (which surface has low coefficient of friction) and additional support element (which surface has high coefficient of friction). It is just what leads to increasing the total friction force and as a consequence to increasing of minimal reserve of robot stability towards sliding.

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References

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Authors and Affiliations

  1. Instituto de Automatica Industrial, Madrid, Spain

    Teodor Akinfiev, Manuel Armada, Manuel Prieto & Mauricio Uquillas

Authors
  1. Teodor Akinfiev
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  2. Manuel Armada
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  3. Manuel Prieto
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  4. Mauricio Uquillas
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Akinfiev, T., Armada, M., Prieto, M. et al. Concerning a Technique for Increasing Stability of Climbing Robots. Journal of Intelligent and Robotic Systems 27, 195–209 (2000). https://doi.org/10.1023/A:1008158332368

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  • DOI: https://doi.org/10.1023/A:1008158332368

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