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Design and analysis of a wall-climbing robot with passive compliant mechanisms to adapt variable curvatures walls

Published online by Cambridge University Press:  05 February 2024

Yifeng Song ,
Zhenyu Yang Open the ORCID record for Zhenyu Yang [Opens in a new window] ,
Yong Chang ,
Hui Yuan  and
Song Lin
Yifeng Song*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
Zhenyu Yang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China University of Chinese Academy of Sciences, Beijing, 100049, China
Yong Chang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China
Hui Yuan
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, China
Song Lin
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China University of Chinese Academy of Sciences, Beijing, 100049, China
*
Corresponding author: Yifeng Song; Email: songyifeng@sia.cn
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Abstract

Motivated by practical applications of inspection and maintenance, we have developed a wall-climbing robot with passive compliant mechanisms that can autonomously adapt to curved surfaces. At first, this paper presents two failure modes of the traditional wall-climbing robot on the variable curvature wall surface and further introduces the designed passive compliant wall-climbing robot in detail. Then, the motion mechanism of the passive compliant wall-climbing robot on the curved surface is analyzed from stable adsorption conditions, parameter design process, and force analysis. At last, a series of experiments have been carried out on load capability and curved surface adaptability based on a developed principle prototype. The experimental results indicated that the wall-climbing robot with passive compliant mechanisms can effectively promote both adsorption stability and adaptability to variable curvatures.

Keywords

variable curvaturecurvature adaptivepassive compliant mechanismwall-climbing robot
Type
Research Article
Information
Robotica , Volume 42 , Issue 4 , April 2024 , pp. 962 - 976
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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