Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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A Self-contained Wall Climbing Robot with Closed Link Mechanism

  • Park, Hyoukryeol (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Park, Jaejun (School of Mechanical Engineering, Sungkyunkwan University) ;
  • Taehun Kang (School of Mechanical Engineering, Sungkyunkwan University)
  • Published : 2004.04.01
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Abstract

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

Keywords

References

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