Climbing robots for maintenance and inspections of vertical structures A survey of design aspects and technologies
Climbing robots for maintenance and inspections of vertical structures A survey of design aspects and technologies
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DOI：
10.1016/j.robot.2013.09.002
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发表时间：
2013-12-01
影响因子：
4.3
通讯作者：
Berns, Karsten
中科院分区：
文献类型：
--
作者：
Schmidt, Daniel;Berns, Karsten
具有自主系统的大型竖向结构的维护和检测仍然是一个悬而未决的问题。存在着大量不同的机器人，它们能够在建筑物、船体或其他人造结构上导航。但是，这些系统大多局限于特殊情况或应用。本文讨论了攀爬机器人的不同移动和附着方法，并介绍了这些系统的特点、挑战和应用。根据给定的一组要求，研究了这些原则，并就一个综合的最先进的机器人提出了一百多个攀爬机器人。最后，将该原理图应用于能够检测大型混凝土建筑物的爬壁机器人的设计方面。(C)2013爱思唯尔B.V.保留所有权利。
The maintenance and inspection of large vertical structures with autonomous systems is still an unsolved problem. A large number of different robots exist which are able to navigate on buildings, ship hulls or other human-made structures. But, most of these systems are limited to special situations or applications. This paper deals with different locomotion and adhesion methods for climbing robots and presents characteristics, challenges and applications for these systems. Based on a given set of requirements these principles are examined and in terms of a comprehensive state-of-the-art more than hundred climbing robots are presented. Finally, this schematics is applied to design aspects of a wall-climbing robot which should be able to inspect large concrete buildings. (C) 2013 Elsevier B.V. All rights reserved.