Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Three-unit Modular Climbing Robot for Overcoming Obstacles on the Facade of Buildings

건물 외벽 장애물 극복을 위한 3단 모듈형 승월로봇

  • Lee, Cheonghwa (Department of Mechanical System Engineering, Kumoh National Institute of Technology) ;
  • Chu, Baeksuk (Department of Mechanical System Engineering, Kumoh National Institute of Technology)
  • 이청화 (금오공과대학교 기계시스템공학과) ;
  • 주백석 (금오공과대학교 기계시스템공학과)
  • Received : 2017.02.09
  • Accepted : 2017.04.01
  • Published : 2017.04.30
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Abstract

This paper introduces a novel obstacle-climbing robot that moves on the facade of buildings and its climbing mechanism. A winch system set on the top of the building makes the vertical motion of the robot while it climbs obstacles that protrude from the wall surface. The obstacle-climbing robot suggested in this research is composed of a main platform and three modular climbing units. Various sensors installed on each climbing unit detect the obstacles, and the robot controller coordinates the three units and the winch to climb the obstacles using the obstacle-climbing mechanism. To evaluate the performance of the developed robot prototype, a test bed, which consists of an artificial wall and an obstacle, was manufactured. The obstacle size and the time required to climb the obstacle were selected as the performance indices, and extensive experiments were carried out. As a result, it was confirmed that the obstacle-climbing robot can climb various-sized obstacles with a reasonable speed while it moves on the wall surface.

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References

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