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Design and Analysis of a Novel Wall-climbing Robot Mechanism
Dong WG(董伟光); Wang HG(王洪光); Liu AH(刘爱华); Li ZH(李贞辉)
Department空间自动化技术研究室
Conference Name2011 International Conference on Mechatronics and Information Technology
Conference DateAugust 16-19, 2011
Conference PlaceShenyang, China
Author of SourceNatural Science Foundation of China (NSFC),
Source PublicationAdvanced Engineering Forum
PublisherTrans Tech Publications Inc
Publication PlaceEnfield, NH
2011
Pages346-351
Indexed ByCPCI(ISTP)
WOS IDWOS:000317993700067
Contribution Rank1
ISSN2234-991X
ISBN978-3-03785-336-8
KeywordWall-climbing Mechanism Hybrid Locomotion Kinematics
AbstractA novel wall-climbing robot mechanism designed for anti-hijacking task is presented. This mechanism consists of a negative pressure adhesion module, a vacuum suction module and a planetary-gear train. The design of biped-wheel hybrid locomotion mechanism, with the advantages of wheeled robots and legged robots, allows the robot to move fast and cross over obstacles easily. This design qualifies the robot for the motion of moving straight, turning in plane and crossing between inclined surfaces. Then the kinematics equations are derived and the locomotion modes are analyzed. Many experiments have been implemented and the results prove that the robot has such characteristics as rapid speed, excellent transition ability between inclined surfaces and curved surface adaptability. Therefore, this novel wall-climbing mechanism could be used for the application of inspection, surveillance and reconnaissance.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/7712
Collection空间自动化技术研究室
Corresponding AuthorDong WG(董伟光)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
2.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Dong WG,Wang HG,Liu AH,et al. Design and Analysis of a Novel Wall-climbing Robot Mechanism[C]//Natural Science Foundation of China (NSFC),. Enfield, NH:Trans Tech Publications Inc,2011:346-351.
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