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Legs position for different movements

Legs position for different movements

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A wall climbing robot is a robot with the capability of climbing vertical surfaces. This paper describes the design and fabrication of a quadruped climbing robot. We are required to design and create a wall climbing robot which uses suction as a means of sticking to the wall. The robot will be controlled using Basic Stamp and the movement of its le...

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... of the 4 cranks is connected with the slider part and sucking cup. Only 2 legs will generate motion of the slider- crank mechanism while 2 legs remain fixed at a certain position see figure 3. The numbers of DOF are the number of components of motion that are required in order to generate the motion. ...

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Conference Paper
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A wall climbing robot is a robot with the capability of climbing vertical surfaces. This paper describes the design and fabrication of a quadruped climbing robot. We are required to design and create a wall climbing robot which uses suction as a means of sticking to the wall. The robot will be controlled using Basic Stamp and the movement of its le...

Citations

... With respect to the locomotion type, following types are often considered: the crawler [1], the track wheeled or wheeled [2], [3], the legged [4] types and Omni directional wheel climbing robot [5]. According to the adhesion method, these robots are generally classified into four groups [6]: vacuum or suction cups [7], electrostatic or magnetic [8], dry adhesion [9] and claws for gripping to the rough surface [10]. Recently, new methods for assuring the adhesion, based on biological findings [11], [12] have also been proposed. ...
... [ Figure 1], Motor and end-effector link design [ Figure 4], bracket for motor M1 and M4 in figure [7] [ Figure 5], bracket for motor M3 in figure [7]. ...
... [ Figure 1], Motor and end-effector link design [ Figure 4], bracket for motor M1 and M4 in figure [7] [ Figure 5], bracket for motor M3 in figure [7]. ...
Preprint
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Climbing Robots are being developed for applications ranging from cleaning to the inspection of difficult to reach constructions. Climbing robots should be capable of carrying a light payload and climbing on vertical surfaces with ability to cope with obstacles. Regarding adhesion to the surface, they should be able to operate on different surfaces with different adhesion methods to produce strong gripping force using light weight mechanism consuming minimum power. Bearing these facts in mind this paper presents a 4-legged Wall Climbing Robot in which suction power using on board suction pumps is used as an adhesion technique. A Walking gait was developed to provide the robot with a capability for climbing up the wall. The robot's kinematics and motion can be considered as mimicking a technique commonly used in rock-climbing using four limbs to climb. It uses four legs, each with four-degrees-of-freedom (4-DOF) and specially designed suction cups attached to the end of each leg that enable it to manoeuvre itself up the wall and to move in any direction. The end effector can also be replaced with other end effectors designed for different adhesion methods to climb on variety of surfaces.
... That negatively impact on the adhesion performance and makes it not suitable for outdoor applications. Finally, the pneumatic wall-climbing robots which are generated the required adhesion force through the negative pressure by utilizing the [8] or the suction cups [9]. Their ability to deal with non-magnetic material is principal advantage. ...
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The main restriction facing wall climbing robots WCRs during travelling is the adaptation to specific type of surfaces. In general, the applications of climbing robots have been grown with their ability to deal with various surfaces. Motivated by this realization, this paper presents an innovative design of propeller-type climbing robot, where it can work on different types of surfaces. Also this work includes a comprehensive survey of propeller-type wall climbing PRWCR, where the robots of related works are analyzed in order to provide the required background to evaluate the major advantages and shortcomings of the current work. The proposed robot has two ground navigation modes; these modes supported two different ground-wall transitioning scenarios. To overcome the limitation on power source, the mission life was extended by proposing perching mechanism. The real climbing robot is manufactured, and the experiments are conducted in this research in order to check the robot performance.
... Albagul, et al. proposed suction as means of sticking to the wall. However this work needs proper design to make sure that all of sucking cups are vertically oriented to the wall surface during the rotational motion of the legs, and using vacuum pumps of high vacuum level application so that the suction cups adhere on the surface of ordinary wall building [17]. This has the effect of high pressure hence high energy requirements on the robot design. ...
... The existing mobile platforms for motion on vertical glass walls have had either the stepping [1][2][3][4], continuous [5,6] or pseudo-continuous motion [7], and the force of holding on the glass wall has been produced using the active-vacuum suction cups and modules (holding systems using materials with a high degree of adhesion are also currently presented). The stepping motion of the mobile platform is realized by means of rectilinear pneumatic motors or reciprocating linear electric actuators. ...
... While some robots are controlled by custom circuitry using carefully selected microcontrollers, other robots, such as the four-legged slider-crank suction powered robot by Albagul et al. [8] , employed pre-made microcontroller modules. With these systems, all of the supporting circuitry has already been developed and integrated with the microcontroller, allowing the user to simply plug in their equipment and easily integrate electronic control into their system. ...
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The objective for this project is to investigate various electrical and software means of control to support and advance the development of a novel vacuum adhesion system for a wall-climbing robot. The design and implementation of custom electronics and a wirelessly controlled real-time software system used to define and support the functionalities of these electronics is discussed. The testing and evaluation of the overall system performance and the performance of the several different subsystems developed, while working both individually and cooperatively within the system, is also demonstrated.
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Robotics is one of the most emerging technologies in the current scenario. In this fast-growing technological world automation through robotics finds its place in almost all the fields. Climbing robots became more popular due to their versatile applications like inspection of tall buildings, tanks, structures, facade cleaning, fruits harvesting on tall trees (coconut) and many more. It became most adaptive as working on height may lead to dangerous incidents for human beings. Operations like visual inspection, crack detection of tall structures and pipes can be made possible with specially designed pipe climber robot. It finds its applications where human cannot reach, like hazardous applications. Specially design robots for a specific application also performs well with precision. This paper presents the novel design and analysis of pipe climbing robot for Chemical plant pipeline fault and leakage detection purpose. Design of all components of the robot is done with the basic mathematical consideration and then its analysis is carried out using FEA tools and MATLAB. Results of Forward and Inverse kinematic analysis of robot are obtained for certain specific points of trajectory. Dynamic analysis has been performed for motor selection and torque calculation. Presented conceptual design and analysis can be useful for pipe inspection purpose.
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This paper presents the design of a novel robot capable of climbing on vertical and rough surfaces, such as stucco walls. Termed CLIBO (claw inspired robot), the robot can remain in position for a long period of time. Such a capability offers important civilian and military advantages such as surveillance, observation, search and rescue and even for entertainment and games. The robot’s kinematics and motion, is a combination between mimicking a technique commonly used in rock climbing using four limbs to climb and a method used by cats to climb on trees with their claws. It uses four legs, each with four-degrees-of-freedom (4-DOF) and specially designed claws attached to each leg that enable it to maneuver itself up the wall and to move in any direction. At the tip of each leg is a gripping device made of 12 fishing hooks and aligned in such a way that each hook can move independently on the wall’s surface. This design has the advantage of not requiring a tail-like structure that would press against the surface to balance its weight. A locomotion algorithm was developed to provide the robot with an autonomous capability for climbing along the pre-designed route. The algorithm takes into account the kinematics of the robot and the contact forces applied on the foot pads. In addition, the design provides the robot with the ability to review its gripping strength in order to achieve and maintain a high degree of reliability in its attachment to the wall. An experimental robot was built to validate the model and its motion algorithm. Experiments demonstrate the high reliability of the special gripping device and the efficiency of the motion planning algorithm.