Hostname: page-component-848d4c4894-x5gtn Total loading time: 0 Render date: 2024-05-28T17:57:17.952Z Has data issue: false hasContentIssue false

A caterpillar climbing robot with spine claws and compliant structural modules

Published online by Cambridge University Press:  15 October 2014

Wei Wang
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China
Shilin Wu*
Affiliation:
Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Beijing, P. R. China
*
*Corresponding author. E-mail: wsl.54@163.com

Summary

This paper proposes a modular caterpillar climbing robot using spines as the attaching tools. To improve the reliability of the spines' engagement and disengagement, this paper discusses the reasonable trajectory of the spine and designs a driving mechanism of the spine based on the compliant mechanism theory. Then some compliant modules are designed and realized to build the caterpillar climbing robot. A climbing gait is designed to avoid collisions between the spines and the wall, and allows the robot to climb on a stucco-like wall with a 72○ incline. The real tests reveal that the deformation of the compliant toes reduces the sliding forces between the spines and the wall, and improve the climbing action obviously.

Type
Articles
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Yuanming, Z., Dodd, T., Atallah, K. and Lyne, I., “Design and Optimization of Magnetic Wheel for Wall and Ceiling Climbing Robot,” International Conference on Mechatronics and Automation. (2010) pp. 1393–1398.Google Scholar
2.Kim, S. H., Hashi, S. and Ishiyama, K., “Magnetic actuation based snake-like mechanism and locomotion driven by rotating magnetic field,” IEEE Trans. Robot. 47, 32443247 (2011).Google Scholar
3.Houxiang, Z., Jianwei, Z., Rong, L., Wei, W. and Guanghua, Z., “Design of a Climbing Robot for Cleaning Spherical Surfaces,” IEEE International Conference on Robotics and Biomimetics (ROBIO). (2005) pp. 375–380.Google Scholar
4.Prahlad, H., Pelrine, R., Stanford, S., Marlow, J. and Kornbluh, R., “Electroadhesive Robots-wall Climbing Robots Enabled by a Novel, Robust, and Electrically Controllable Adhesion Technology,” IEEE International Conference on Robotics and Automation. (2008) pp. 3028–3033.Google Scholar
5.Yamamoto, A., Nakashima, T. and Higuchi, T., “Wall Climbing Mechanisms Using Electrostatic Attraction Generated by Flexible Electrodes,” International Symposium on Micro-NanoMechatronics and Human Science, (2007) pp. 389–394.Google Scholar
6.Sintov, A., Avramovich, T. and Shapiro, A., “Design and motion planning of an autonomous climbing robot with claws,” Robot. Auton. Syst. 59, 10081019 (2011).Google Scholar
7.Dickson, J. D. and Clark, J. E., “Design of a multimodal climbing and gliding robotic platform,” IEEE/ASME Trans. Mechatronics 18, 494505 (2013).Google Scholar
8.Li, Y. S., Ahmed, A., Sameoto, D. and Menon, C., “Abigaille II: toward the development of a spider-inspired climbing robot,” Robotica 30, 7989 (2012).CrossRefGoogle Scholar
9.Sameoto, D., Li, Y. S. and Menon, C., “Multi-scale compliant foot designs and fabrication for use with a spider-inspired climbing robot,” J. Bionic Eng. 5, 189196 (2008).Google Scholar
10.Boscariol, P., Henrey, M. A., Li, Y. S. and Menon, C., “Optimal gait for bioinspired climbing robots using dry adhesion: a quasi-static investigation,” J. Bionic Eng. 10, 111 (2013).Google Scholar
11.Asbeck, A. T., Kim, S., Cutkosky, M. R., Provancher, W. R. and Lanzetta, M., “Scaling hard vertical surfaces with compliant microspine arrays,” Int. J. Robot. Res. 25, 11651179 (2006).Google Scholar
12.Je-Sung, K. and Kyu-Jin, C., “Omegabot: Crawling Robot Inspired by Ascotis Selenaria,” IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AK, (2010) pp. 109–114.Google Scholar
13.Desbiens, A. L., Asbeck, A. and Cutkosky, M., “Hybrid Aerial and Scansorial Robotics,” IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AK, (2010) pp. 72–77.Google Scholar
14.Tin Lun, L. and Yangsheng, X., “Climbing strategy for a flexible tree climbing robot-treebot,” IEEE Trans. Robot. 27, 11071117 (2011).Google Scholar
15.Parness, A., Frost, M., King, J. A., Thatte, N., Witkoe, K., Nevarez, M.et al., “Video Presentation of A Rock Climbing Robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (2013) pp. 2076–2076.Google Scholar
16.Wang, W. and Zhao, L.-c., “A Method to Reduce the Sliding Force on Adhering Points of Caterpillar Climbing Robot,” International Conference on Information and Automation (ICIA). Shenyang, China, (2012) pp. 715–720.Google Scholar
17.Provancher, W. R., Clark, J. E., Geisler, B. and Cutkosky, M. R., “Towards Penetration-Based Clawed Climbing,” 7th International Conference on Climbing and Walking Robots (CLAWAR 2004) Madrid, Spain, (2004) pp. 961–970.Google Scholar
18.Wang, W., Wang, K. and Zhang, H. X., “Crawling gait realization of the mini-modular climbing caterpillar robot,” Prog. Natural Sci. 19, 18211829 (2009).Google Scholar
19.Wang, W., Zhang, H. X., Wang, K., Zhang, J. W. and Chen, W. H., “Gait control of modular climbing caterpillar robot,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, (2009) pp. 957–962.Google Scholar