Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts

doi:10.1177/1729881420926409

	Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts
	Liu, Jinfu 1,2; Xu, Linsen 1; Xu, Jiajun 2; Liu, Lei 2; Cheng, Gaoxin 2; Chen, Shouqi 2; Xu, Hong 2; Shi, Jia 2; Liang, Xingcan 2
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2020-05-01
卷号	17
关键词	Wall-climbing robot adhesive belts vacuum adsorption system dynamic model
ISSN号	1729-8814
DOI	10.1177/1729881420926409
通讯作者	Xu, Linsen(lsxu@iamt.ac.cn)
英文摘要	This article presents an innovative wall-climbing robot for detection on smooth wall surfaces, which consists of a vacuum adsorption system and adhesion belts, making the robot flexible and effectively steerable. Moreover, the detailed attachment mechanism is further analyzed for the climbing tasks. Safe operating conditions, kinematics, and dynamic model are derived, respectively, indicating that at least the adsorption force of 30 N and the motor torque of 2 N center dot m are required for stable climbing of the robot. Furthermore, the prototype of the wall-climbing robot is manufactured and the climbing abilities are tested on various wall surfaces showing that the maximum moving speed and corresponding load are 7.11 cm/s and 0.8 kg on the concrete exterior wall, 5.9 cm/s and 0.75 kg on the ceramic brick wall, 6.09 cm/s and 0.85 kg on the lime wall, and 5.9 cm/s and 1 kg on the acrylic surface, respectively, which demonstrates that the robot has high stability and adaptability.
资助项目	Science and Technology Major Project of Anhui Province[17030901034] ; Jiangsu Key Research and Development Plan[BE2017067] ; Project of National Natural Science Foundation of China[61703390] ; Project of National Natural Science Foundation of China[51705499]
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000538453700001
资助机构	Science and Technology Major Project of Anhui Province ; Jiangsu Key Research and Development Plan ; Project of National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/103097]
专题	中国科学院合肥物质科学研究院
通讯作者	Xu, Linsen
作者单位	1.Chinese Acad Sci, Inst Adv Mfg Technol, Hefei Inst Phys Sci, Huihong Bldg,801,Changwu Middle Rd, Changzhou 213164, Jiangsu, Peoples R China 2.Univ Sci & Technol China, Dept Precis Machinery & Precis Instrumentat, Hefei, Peoples R China
推荐引用方式 GB/T 7714	Liu, Jinfu,Xu, Linsen,Xu, Jiajun,et al. Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2020,17.
APA	Liu, Jinfu.,Xu, Linsen.,Xu, Jiajun.,Liu, Lei.,Cheng, Gaoxin.,...&Liang, Xingcan.(2020).Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,17.
MLA	Liu, Jinfu,et al."Analysis and optimization of the wall-climbing robot with an adsorption system and adhesive belts".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 17(2020).