Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism
Development of Wall Climbing Robot System by Using Impeller Type Adhesion Mechanism
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DOI：
10.1007/s10846-013-9820-z
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发表时间：
2013-10-01
影响因子：
3.3
通讯作者：
Choi, Hyouk Ryeol
中科院分区：
文献类型：
--
作者：
Koo, Ig Mo;Tran Duc Trong;Choi, Hyouk Ryeol
在本文中，我们提出了一个爬壁机器人系统，称为“LARVA”，开发的视觉检测结构的平面。该机器人有两个差动驱动轮与悬架和附着机构。粘附机构由叶轮和两层吸力密封组成。它的目的是提供足够的附着力和控制，使机器人可以在各种墙壁表面上自由移动。建立了粘附机构的静力学和气动模型，并对粘附机构的粘附机理、漏气和内部流动进行了分析，为粘附机构的设计和控制提供了依据。最后，在几种不同的墙壁上对机器人的性能进行了实验验证，验证了其可行性。
In this paper, we present a wall climbing robot system, called "LARVA", developed for visual inspection of structures with flat surfaces. The robot has two differential driving wheels with a suspension and an adhesion mechanism. The adhesion mechanism is composed of an impeller and two-layered suction seals. It is designed to provide sufficient adhesion force and be controlled so that the robot can move freely on various wall surfaces. The static and aerodynamic modeling of the adhesion mechanism is given and the analysis of the adhesion mechanism, air leakage, and inner flow are carried out to be useful for the design as well as the control. Finally, the performances of the robot are experimentally verified on several kinds of walls and its feasibility is validated.