Design and development of a self-reconfigurable climbing robot

自重构攀爬机器人的设计与开发

• 批准号: 463162-2014
• 负责人: Mehrandezh, Mehran
• 金额: $ 0.73万
• 依托单位: University of Regina
• 依托单位国家: 加拿大
• 项目类别: Idea to Innovation
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=558276
• 关键词: Design; development; self; reconfigurable; climbing

Development of autonomous robots that can replace humans for doing dangerous, dirty and dull tasks have been the center of attention within the research community for the past 2 decades. In this context, a self-reconfigurable climbing machine has been designed and developed at the University of Regina. This robotic system can be categorized as a new product since it is capable of doing a multitude of tasks that no other single robot could do in the past. With proper joint-level motion coordination, it would be able to climb staircases, travel on rough terrains, move inside empty ducts and/or pipes, and climb over ropes/poles with varying cross sections, shapes, and sizes. It can also move inside narrow passage ways by reconfiguring itself. The design of a reconfigurable robot capable of traversing a wide range of unconventional terrains is the novelty in this invention.

在过去的20年里，自主机器人的发展可以取代人类完成危险，肮脏和枯燥的任务，一直是研究界关注的焦点。在这种情况下，一个自重构的攀登机已被设计和开发的里贾纳大学。 这个机器人系统可以被归类为一个新产品，因为它能够完成许多过去没有其他机器人可以完成的任务。通过适当的关节水平运动协调，它将能够爬楼梯，在粗糙的地形上行驶，在空管道和/或管道内移动，并爬上具有不同横截面，形状和尺寸的绳索/杆。它也可以通过重组自己在狭窄的通道内移动。本发明的新奇之处在于设计了一种能够穿越大范围非常规地形的可重构机器人。