Browse > Article
http://dx.doi.org/10.5762/KAIS.2017.18.8.344

Development of wall climbing robot using vacuum adsorption with legged type movement  

Park, Soo-Hyun (Department of Mechanical&Automotive Engineering, Kongju National University)
Seo, Kyeong-Jun (Department of Mechanical&Automotive Engineering, Kongju National University)
Kim, Sung-Gaun (Department of Mechanical&Automotive Engineering, Kongju National University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.18, no.8, 2017 , pp. 344-349 More about this Journal
Abstract
Wall-climbing robots have been developed for various purposes, such as cleaning skyscraper windows, maintaining large structures, and welding vessels. Conventional wall-climbing robots use movement systems based on wheels or legs. However, wheeled robots suffer from slipping effects, while legged systems require many actuators and control systems for the complex linkage structure, which also increases the weight of the robot. To overcome these disadvantages, we propose a new wall-climbing robot that walks based on gorilla locomotion. The proposed robot consists of a DC drive motor, a vacuum pump for adsorption, and a micro controller for controlling the system. The performance of the robot was experimentally verified on vertical and horizontal flat surfaces. The robot could be used for various functions in industrial sites or disaster areas.
Keywords
Gate pattern of gorilla; Legged type; Simplified mechanism; Vacuum adsorption; Wall climbing robot;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 D. Schmidt, K. Berns, "Climbing robots for maintenance and inspections of vertical structures-A survey of design aspects and technologies," Robotics and Autonomous Systems, vol. 61, pp. 1288-1305, Sept. 2013. DOI: https://doi.org/10.1016/j.robot.2013.09.002   DOI
2 M. Tavakoli, L. Marques, A. T. de Almeida, "OmniClimber : an omnidirectional light weight climbing robot with flexibility to adapt to non-flat surfaces," International Conference on Intelligent Robots and Systems, pp. 280-285, Dec. 2012. DOI: https://doi.org/10.1109/IROS.2012.6385454
3 G. Peters, D. Pagano, D. K. Liu, K. Waldron, "A prototype climbing robot for inspection of complex ferrous structures," Proceeding of the 13th International Conference. on Climbing and Walking Robots, pp. 150-156, 2010. DOI: https://doi.org/10.1142/9789814329927_0020
4 D. Souto, A. Faina, A. Deibe, F. Lopez-Pena, R. J. Duro, "A robot for the unsupervised grit-blasting of ship hulls," International Journal of Advanced Robotic Systems, vol. 9, no. 3, pp. 1-16, Jan. 2012. DOI: https://doi.org/10.5772/50847   DOI
5 Y. K. Song, C. M. Lee, I. M. Koo, D. T. Tran, H. Moon, H. R. Choi, "Development of wall climbing robotic system for inspection purpose," Proceeding of the International Conference. on Intelligent Robots and Systems, pp. 1990-1995, Sept. 2008.
6 S. Kim, M. Spenko, S. Trujillo, B. Heyneman, V. Mattoli, M. R. Cutkosky, "Whole body adhesion: hierarchical, directional and distributed control of adhesiveforces for a climbing robot," Proc. of the International Conference. on Robotics and Automation, pp. 1268-1273, April. 2007. DOI: https://doi.org/10.1109/ROBOT.2007.363159
7 S. H. Park, K. J. Seo, J. R. Choi, D. H. Kwon, J. H. Bang, S. G. Kim, "Development of the wall climbing robot using New Mechanism," KSPE 2016 Autumn conference, pp. 150-151, Oct. 2016.
8 T. H. Kang, J. J. Park, H. S. Kim, H. R. Choi, "Self Contained wall-Climbing Robot with Closed Link Mechanism," International conference on Control, Automation and Systems, pp. 1657-1662, Oct. 2002.
9 I. M. Koo, Y. K. Song, H. P. Moon, S. K. Park, H. R. Choi, "Design and Control of Wall Climbing Robot Using Impeller," Journal of Korea Robotics Society, vol. 5, no. 3, pp. 177-185, 2010.
10 Y. S. Do, Y. J. Jeong, "Implementation of a window climbing robot using vacuum adsorption with sliding movement," Journal of Advanced Information Technology and Convergence, vol. 9, no. 6, pp. 1-10, Jun. 2011.