The SlothBot: A Novel Design for a Wire-Traversing Robot
The SlothBot: A Novel Design for a Wire-Traversing Robot
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SlothBot：一种新颖的走线机器人设计
DOI：
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发表时间：
2019
影响因子：
5.2
通讯作者：
M. Egerstedt
中科院分区：
文献类型：
--
作者：
Gennaro Notomista;Y. Emam;M. Egerstedt
这封信介绍了SlothBot，一种设想用于长期环境监测应用的导线穿越机器人。SlothBot是一个太阳能驱动的、慢节奏的、节能的机器人，它的名字由此而来，它能够通过在分支电线之间切换来在电线网上移动。与环境监测应用中采用的地面移动的机器人或空中机器人不同，使用导线穿越机器人允许长期部署，因为能耗显著降低。导线穿越，再加上太阳能电池板的使用，促进了SlothBot的自我可持续性。机器人的运动和换线操作都是以故障安全的方式进行的，因为机器人总是牢牢地附着在电线上，即使在分支电线之间切换时也是如此。这是通过采用具有致动解耦机构的两体结构来实现的。在这封信中，我们展示了SlothBot的设计和运动控制，以及长期监测实验的结果。
This letter presents the SlothBot, a wire-traversing robot envisioned for long-term environmental monitoring applications. The SlothBot is a solar-powered, slow-paced, energy-efficient robot—hence its name—capable of moving on a mesh of wires by switching between branching wires. Unlike ground mobile robots or aerial robots employed in environmental monitoring applications, the use of wire-traversing robots allows for longer-term deployment because of the significantly lower energy consumption. Wire traversing, coupled with the use of solar panels, facilitates the self-sustainability of the SlothBot. Locomotion and wire-switching maneuvers are performed in a fail-safe fashion, inasmuch the robot is always firmly attached to the wires, even when switching between branching wires. This is achieved by employing a two-body structure featuring an actuated decoupling mechanism. In this letter, we show the design and the motion control of the SlothBot, together with the results of long-term monitoring experiments.