scholarly journals Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

2017 ◽  
Vol 8 (1) ◽  
pp. 14 ◽  
Author(s):  
Quansheng Jiang ◽  
Fengyu Xu
Keyword(s):  
Surface Modeling ◽  
Rough Wall ◽  
Wall Surface ◽  
Climbing Robot ◽  
Modeling And Analysis

Design and Realization of a Flexible Claw of Rough Wall Climbing Robot

2011 ◽  
Vol 328-330 ◽  
pp. 388-392 ◽  
Author(s):  
Dong Liang Chen ◽  
Qun Zhang ◽  
Shao Zhi Liu
Keyword(s):  
Experimental Study ◽  
Degrees Of Freedom ◽  
Material Selection ◽  
Structure Design ◽  
Rough Wall ◽  
Flexible Structure ◽  
Climbing Robot ◽  
Mechanical Structure ◽  
Four Bar Linkage

Based on the research of foot characteristics of insecta, a climbing robot’s mechanical structure and kinematics are analyzed, and the main crawling institutions was designed by a kind of bionic four-bar linkage. Claws are made of sharp spines, claws are composed of a number of toes which are flexible structure with local degrees of freedom, they have a grate adaptivity to the rough wall. We have studied the characteristics of the rough wall climbing, and made analysis affection of reliability with the angle perched on. The experimental study indicates spine planning and structure design, material selection are reasonable.

Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation

2017 ◽  
Vol 12 (6) ◽  
pp. 066010 ◽  
Author(s):  
Edward M Chapman ◽  
Tyler E Jenkins ◽  
Matthew Bryant
Keyword(s):  
Artificial Muscle ◽  
Climbing Robot ◽  
Modeling And Analysis

A Three-Row Opposed Gripping Mechanism With Radial Configuration for Wall-Climbing Robots

2019 ◽  
Author(s):  
Chao Xie ◽  
Xuan Wu ◽  
Xiaojie Wang
Keyword(s):  
Rough Surface ◽  
Motor Drives ◽  
Rough Wall ◽  
Climbing Robot ◽  
Climbing Robots ◽  
Single Motor

Abstract This paper presents a three-row opposed gripping mechanism with radial configuration for wall-climbing robots inspired by the structure of the gripper of LEMUR IIB. The mechanism builds upon a kind of microspines for climbing robots. This work utilizes an opposed spoke configuration with 3 rows of 31 microspines on each linkage array, splayed around a central bracket. A single motor drives the 3 linkage arrays by a set of gears to achieve attachment and detachment procedures, and the trajectory of each linkage array tip makes the miniature spines easy to penetrate in and pull off the surfaces. The mechanism designed as a foot of climbing robots can vertically resist at least 1kg of load on rough surface. The findings provide a foundation for constructing a system for a rough-wall-climbing robot.

Impact of Rough Wall Surface on Electromagnetic Wave Propagation Characteristics in Mine Tunnels

2011 ◽  
Vol 301-303 ◽  
pp. 1417-1421
Author(s):  
Shan Hua Yao ◽  
Xian Liang Wu
Keyword(s):  
Wave Propagation ◽  
Electromagnetic Wave ◽  
Coal Mine ◽  
Electromagnetic Waves ◽  
Electromagnetic Wave Propagation ◽  
Rough Wall ◽  
Wall Surface ◽  
Propagation Characteristics ◽  
Waves Propagation ◽  
Mine Tunnels

In this paper ,the mine tunnels is regard as wave-guide which contains kinds of un-beneficial medium, we have study the formulas of electromagnetic waves propagation attenuation and roughness attenuation, the relations between propagation attenuation and roughness and frequency were simulated. The results show that the influence of propagation attenuation in lower frequency is more obvious, and roughness attenuation is increased rapidly as roughness of coal mine tunnels increasing. But tilted attenuation is stronger than roughness attenuation as propagation frequency increasing.

A Gecko-Inspired Robot for Wind Power Tower Inspection

2013 ◽  
Vol 461 ◽  
pp. 831-837
Author(s):  
Xue Shan Gao ◽  
Jie Shao ◽  
Fu Quan Dai ◽  
Cheng Guo Zong ◽  
Wen Zeng Guo
Keyword(s):  
Wind Power ◽  
Design Method ◽  
Degree Of Freedom ◽  
Small Radius ◽  
Wall Surface ◽  
Climbing Robot ◽  
Soft Body ◽  
Climbing Ability

In order to accomplish the task of wind power tower inspection, a heavy-loaded climbing robot inspired by geckos is presented in this paper. The robot not only imitates body’s functions of geckos but also shows a design method. Wind power tower is a conical wall surface and its smallest radius is less than 2m. There will be a great gap when a robot climbing on such wall with small radius. The extraordinary climbing ability of geckos is considered as a remarkable design of nature that is attributed to its soft body, its multi-degree-of-freedom legs, and its strong-adsorbed toes. Focus on the feature of working on such wall surface, gecko’s body, toes and legs are simplified as free joints, magnetic units and redundant tracks respectively, based on the functions of gecko’s limbs and body. The adaptability of the robot is tested by the experiments in laboratory. With the gecko-inspired structure, the robot can climb on the wall surface with minimum 2m in diameter in any direction.

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