DOI QR코드

DOI QR Code

Design of a Transformable Track Mechanism for Wall Climbing Robots

변형 트랙 메커니즘을 이용한 등반로봇 설계

  • Lee, Gi-Uk (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Seo, Kun-Chan (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Hwang (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Sun-Ho (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Jeon, Dong-Su (School of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Kim, Hong-Seok (Department of Mechanical Engineering, Seoul National Univ. of Science and Technology) ;
  • Kim, Jong-Won (School of Mechanical and Aerospace Engineering, Seoul National Univ.)
  • 이기욱 (서울대학교 기계항공공학부) ;
  • 서근찬 (서울대학교 기계항공공학부) ;
  • 김황 (서울대학교 기계항공공학부) ;
  • 김선호 (서울대학교 기계항공공학부) ;
  • 전동수 (서울대학교 기계항공공학부) ;
  • 김홍석 (서울과학기술대학교 기계공학과) ;
  • 김종원 (서울대학교 기계항공공학부)
  • Received : 2010.09.30
  • Accepted : 2011.09.23
  • Published : 2012.02.01

Abstract

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.

Keywords

Acknowledgement

Supported by : 한국연구재단

References

  1. Hirose, S., Nagakubo, A. and Toyama, R., "Machine that can walk and climb on floors, walls and ceilings," International Conference on Advanced Robotics, Vol. 1, pp. 753-758, 1991.
  2. Xu, Z. and Ma, P., "A wall climbing robot for labeling scale of oil tank's volume," Robotica, Vol. 20, No. 2, pp. 209-212, 2002.
  3. Kim, S., Spenko, M., Trujillo, S., Heyneman, B., Mattoli, V. and Cutkosky, M. R., "Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot," IEEE International Conference on Robotics and Automation, pp. 1268-1273, 2007.
  4. Prahlad, H., Pelrine, R., Stanford, S., Marlow, J. and Kornbluh, R., "Electroadhesive Robots-Wall Climbing Robots Enabled by a Novel, Robust, and Electrically Controllable Adhesion Technology," IEEE International Conference on Robotics and Automation, pp. 3028-3033, 2008.
  5. W. R. and Lanzetta, M., "Scaling hard vertical surfaces with compliant microspine arrays," The International Journal of Robotic Research, Vol. 25, No. 12, pp. 1165-1179, 2006. https://doi.org/10.1177/0278364906072511
  6. Seo, K. C., Chang, D. Y., Lee, K. H., Kim, H., Lee, K. H., Nam, U. C. and Kim, J. W., "Design of an attachment device for robotic systems climbing the rugged vertical surfaces," Proc. of KSPE Autumn Conference, pp. 97-98, 2007.
  7. Seo, K. C., Lee, K. H., Nam, U. C., Kim, B. W. and Kim, J. W., "Optimal Design of a Vacuum Attachment Device Capable of Attaching to the Irregular Surface by Using Taguchi Methodology," Proc. of KSPE Autumn Conference, pp. 227-228, 2008.
  8. Minor, M. A. and Mukherjee, R., "Under-actuated kinematic structures for miniature climbing robots," ASME Journal of Mechanical Design, Vol. 125, No. 2, pp. 281-291, 2003. https://doi.org/10.1115/1.1564075
  9. Zhang, H., Zhang, J., Wang, W., Liu, R. and Zong, G., "A series of pneumatic glass-wall cleaning robots for high-rise buildings," Industrial Robot, Vol. 34, No. 2, pp. 150-160, 2007. https://doi.org/10.1108/01439910710727504

Cited by

  1. Kinematic Optimal Design on a New Robotic Platform for Stair Climbing vol.30, pp.4, 2013, https://doi.org/10.7736/KSPE.2013.30.4.427
  2. Development of a Torque Distribution Algorithm for Improving Stability and Mobility of the Wall-climbing Robot Platform (ROPE RIDE) Equipped with Triangular Track Wheels vol.30, pp.7, 2013, https://doi.org/10.7736/KSPE.2013.30.7.725