scholarly journals Wall Climbing Robot Using Electrostatic Adhesion Force Generated by Flexible Interdigital Electrodes

10.5772/54634 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 36 ◽  
Author(s):  
Rong Liu ◽  
Rui Chen ◽  
Hua Shen ◽  
Rong Zhang
Keyword(s):  
Adhesion Force ◽  
Climbing Robot ◽  
Interdigital Electrodes ◽  
Electrostatic Adhesion

scholarly journals Design, fabrication and testing of electroadhesive interdigital electrodes

Open Physics ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 430-434
Author(s):  
Jan Fessl ◽  
František Mach ◽  
Jiří Navrátil
Keyword(s):  
Material Properties ◽  
Adhesion Force ◽  
Design Parameters ◽  
Experimental Measurements ◽  
Dielectric Layers ◽  
Interdigital Electrodes ◽  
Electrostatic Adhesion

Abstract Electrostatic adhesion force is analyzed with emphasis on design parameters of the interdigital electrodes, material properties of dielectric layers and its thickness. From these results, two fabrication processes of the electroadhesive foils are studied to reach the highest possible performance. Experimental measurements are carried out to verify the results.

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Design and analysis of a climbing robot for pylon maintenance

2018 ◽  
Vol 45 (2) ◽  
pp. 206-219
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yishu Wang
Keyword(s):  
Design Methodology ◽  
Adhesion Force ◽  
External Surface ◽  
Climbing Robot ◽  
Design And Development ◽  
New Approach ◽  
Content Type ◽  
Rotary Joint ◽  
Inspection And Maintenance ◽  
Practical Implications

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

scholarly journals Analysis of Magnetic Wheel Adhesion Force for Climbing Robot

2019 ◽  
Vol 3 (1) ◽  
pp. 534-541
Author(s):  
Haydn Welch ◽  
Shyamal Mondal
Keyword(s):  
Adhesion Force ◽  
Climbing Robot

A Wall Climbing Robot Based on the Improved Electro Adhesion Technology

2013 ◽  
Vol 328 ◽  
pp. 56-61
Author(s):  
Jin Chao Guo ◽  
Guang Hui Dai ◽  
Guang Chao Cui
Keyword(s):  
Adhesion Force ◽  
Electrode Array ◽  
New Method ◽  
Climbing Robot ◽  
Insulating Layer ◽  
Self Cleaning

Electro adhesion is a novel adhesion technology, offering a new method for the designing of adhesion type of climbing robot. In this paper, an improved electro adhesion technology is put forward, using ERG (Electro Rheological Gel) as the insulating layer of electrode array. Experiments show that the adhesion force is enhanced by using ERG and the electrode array has self-cleaning function to some extent. Finally, a climbing robot was developed and it can climb kinds of walls (such as wood, glass and concrete), which proves the effectiveness of the improved electro adhesion technology.

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