Development of an articulated mobile robot moving on magnetic curved walls and passing over obstacles
Development of an articulated mobile robot moving on magnetic curved walls and passing over obstacles
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DOI：
10.1080/01691864.2022.2138720
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发表时间：
2022-11
影响因子：
2
通讯作者：
Shotaro Ueno;Mizuki Nakajima;Motoyasu Tanaka
中科院分区：
文献类型：
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作者：
Shotaro Ueno;Mizuki Nakajima;Motoyasu Tanaka
研制了一种关节式移动的机器人，该机器人能够在磁性曲面壁上移动并穿越障碍物，用于大型储罐的壁面检测。该机器人装有磁轮，能够贴在钢壁上移动。我们添加被动滚动关节并关闭俯仰关节的扭矩，以确保车轮与曲面保持接触。开发的机器人通过实验室实验进行测试，并在2020年世界机器人峰会上进行现场测试。通过实验验证了机器人在曲面上的运动规律以及机器人在越障时的运动规律。结果，机器人不能克服墙壁附近的障碍物，如扶手，但能够在弯曲的墙壁表面上自由移动，并越过拐角处的一些障碍物。图形摘要
We developed an articulated mobile robot that can move on the magnetic curved walls and traverse through obstacles for wall surface inspections of a large tank. This robot is equipped with magnetic wheels and is able to stick to and move on steel wall. We add passive roll joints and turn off the torque of the pitch joints to ensure the wheels keep in contact with the curved surface. The developed robot is tested through experiments in the laboratory and also in a field test at the World Robot Summit 2020. The experiments are conducted to confirm the movements of the robot on the curved wall surface and when the units are lifted for obstacle traversal. As the results, the robot is not able to overcome an obstacle near the wall such as a handrail but is able to move freely on the curved wall surface and traverse some obstacles on the corner. GRAPHICAL ABSTRACT