Proposal of Swarm Type Wall Climbing Robot System "Anchor Climber" and Development of Adhering Mobile Units
Proposal of Swarm Type Wall Climbing Robot System "Anchor Climber" and Development of Adhering Mobile Units
复制标题
群型爬墙机器人系统“Anchor Climber”的提案及粘附移动单元的开发
DOI：
10.7210/jrsj.28.614
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
Masataka Suzuki;S. Hirose
高机动性和大负载能力是爬壁机器人的重要能力。虽然传统的设计只能同时实现这两种能力中的一种，但本文提出了一种新型的群体式爬壁机器人系统“锚爬者”，它可以同时实现这两种能力。该机器人系统由两个或更多个子单元和一个母单元组成，并且壁攀爬机器人“粘附移动的单元”（AM单元）被用作这些子单元。AM单元可以转换两种粘附状态，用于移动和粘附在墙上。提出了三种采用内平衡磁铁技术的增材制造单元的概念模型，并开发了两种具有全向轮和履带的样机。利用所开发的原型机器人进行了几项实验，并根据这些实验的结果讨论了AM单元的合适配置和机制。
High mobility and large payload capacity are important abilities for wall climbing robots. Though conventional designs have achieved only either of these two abilities at the same time, a novel swarm type wall climbing robot system “Anchor Climber” that can achieve both of them is proposed in this paper. This robot system is composed of two or more child units and a parent unit, and wall climbing robots “Adhering Mobile Units” (AM Units) are used as these child units. AM Units can shift two adhering states for moving and for sticking on walls. Three concept models of AM Units using the technique of internally-balanced magnet (IB Magnet) were proposed, and two prototypes with omni-wheels and crawlers were developed. Several experiments were made with developed prototype robots, and suitable configuration and mechanisms of AM Unit were discussed from results of these experiments.