Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2006.05a
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- Pages.55-56
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- 2006
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- 2005-8446(pISSN)
Development of a wall climbing robot with vacuum caterpillar wheel system
흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발
- Kim Hwang (School of Mechanical and Aerospace Engineering, SNU) ;
- Kim Dong-Mok (School of Mechanical and Aerospace Engineering, SNU) ;
- Yang Ho-Joon (School of Mechanical and Aerospace Engineering, SNU) ;
- Lee Kyou-Hee (School of Mechanical and Aerospace Engineering, SNU) ;
- Seo Kun-Chan (School of Mechanical and Aerospace Engineering, SNU) ;
-
Chang Do-Young
(School of Mechanical and Aerospace Engineering, SNU)
;
-
Kim Jong-Won
(School of Mechanical and Aerospace Engineering, SNU)
- 김황 (서울대 대학원 기계항공공학부) ;
- 김동목 (서울대 대학원 기계항공공학부) ;
- 양호준 (서울대 대학원 기계항공공학부) ;
- 이규희 (서울대 대학원 기계항공공학부) ;
- 서근찬 (서울대 대학원 기계항공공학부) ;
-
장도영
(서울대 대학원 기계항공공학부)
;
-
김종원
(서울대 기계항공공학부)
- Published : 2006.05.01
Abstract
This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.