WALL CLIMBING ROBOT MOTION WITH ADAPTIVE VACUUM CONTACT DEVICES

被引：0
|
作者：
Gradetsky, V. G. [1 ]
Knyazkov, M. M. [1 ]
Kryukova, A. A. [1 ]
Semyonov, E. A. [1 ]
Sukhanov, A. N. [1 ]
机构：
[1] Russian Acad Sci, Inst Problems Mech, 101-1 Prospect Vernadskogo, Moscow 119526, Russia
来源：
ASSISTIVE ROBOTICS | 2016年
关键词：
Mobile robots; adaptive motion; simulation; dynamic parameters; contact devices; sliding seal;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Simulation technique of studying adaptation motion of mobile wall climbing robot with sliding seal and two wheels is suggested. Such parameters as forces, pressure, velocities of contact device have been taken into account. The results of simulation present dynamic range of the robot motion with restriction on parameters. It is shown the limitation of characteristics of robot adaptive motion over complex surfaces. The obtaining results were used for the robot's prototype design.
引用
收藏
页码：603 / 611
页数：9
相关论文
共 50 条
  • [1] Motion Planning for Climbing Mobility with Implementation on a Wall-Climbing Robot
    Albee, Keenan
    Espinoza, Antonio Teran
    Andreyeva, Kristina
    Werner, Nathan
    Chen, Howei
    Sarvary, Tamas
    2019 IEEE AEROSPACE CONFERENCE, 2019,
  • [2] DYNAMICS OF VACUUM CONTACT DEVICES OF MOBILE CLIMBING ROBOTS
    Gradetsky, V. G.
    Knyazkov, M. M.
    Sukhanov, A. N.
    Semenov, E. A.
    ADVANCES IN COOPERATIVE ROBOTICS, 2017, : 278 - 286
  • [3] Motion Control of Micro Wall-Climbing Robot on Unsmoothed Wall
    Jiang, Yong
    Wang, Hongguang
    Fang, Lijin
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 3252 - 3257
  • [4] Development of universal vacuum gripper for wall-climbing robot
    Fujita, Masahiro
    Ikeda, Suguru
    Fujimoto, Toshiaki
    Shimizu, Toshihiko
    Ikemoto, Shuhei
    Miyamoto, Takeshi
    ADVANCED ROBOTICS, 2018, 32 (06) : 283 - 296
  • [5] A Wall Climbing Robot Arm Capable of Adapting to Multiple Contact Wall Surfaces
    Bian, Shiyuan
    Xie, Dongyue
    Wei, Yuliang
    Xu, Feng
    Tang, Min
    Kong, Deyi
    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT II, 2019, 11741 : 97 - 109
  • [6] Stability motion problem for wall climbing robot with transition possibilities
    Gradetsky, V
    Kalinichenko, S
    Kravchuk, L
    Pushkin, M
    PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, 2000, : 305 - 314
  • [7] Motion Control of a Wall Climbing Robot with Coaxial Propeller Thruster
    Tanaka, Yoshiki
    Nozaki, Katsuya
    Ioi, Kiyoshi
    2017 2ND IEEE INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION ENGINEERING (ICITE), 2017, : 360 - 364
  • [8] Study on Sensors Using in Wall Climbing Robot for Motion Controller
    Zhai Ying
    Liang Hongwei
    Gao Bingkun
    Fan Sanxin
    PROCEEDINGS OF 2013 2ND INTERNATIONAL CONFERENCE ON MEASUREMENT, INFORMATION AND CONTROL (ICMIC 2013), VOLS 1 & 2, 2013, : 1238 - 1241
  • [9] Wall-Climbing Mobile Robot for Inspecting DEMO Vacuum Vessel
    Qin, Guodong
    Li, Changyang
    Wu, Huapeng
    Ji, Aihong
    APPLIED SCIENCES-BASEL, 2022, 12 (18):
  • [10] Research on Alternatively Moving Vacuum Absorbing Wall-climbing Robot
    姜洪源
    李曙生
    潘沛霖
    昌先国
    高学山
    Journal of Harbin Institute of Technology, 1999, (01) : 8 - 13
12345