Analysis and Experiments on Pulse Vibrating Suction Method for Wall Climbing Robot

摘要:

文章预览

This template explains and demonstrates how to prepare your camera-ready paper for In this paper, the pulse vibrating suction method (PVSM) for wall climbing robot is presented, which is based on the principle of vibrating suction method. To analyze this method in depth and evaluate its performance, a simplified mathematical model based on some assumptions is built, and a new experimental platform for single suction cup is developed as well. Experiments on single suction cups indicate that the experimental results match the mathematical model well with only small deviation, which is caused by some unknown factors. Then experiments are carried out on a vibrating suction module which was developed previously. With the PVSM, the suction module can stay on the wall stabely, which verifies the vadality of this vibrating method. Suction failures for the module are also analyzed with different control parameters.

信息:

期刊:

编辑:

Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang

页数:

1837-1844

DOI:

10.4028/www.scientific.net/AMR.201-203.1837

引用:

X. Y. Zhao et al., "Analysis and Experiments on Pulse Vibrating Suction Method for Wall Climbing Robot", Advanced Materials Research, Vols. 201-203, pp. 1837-1844, 2011

上线时间:

February 2011

输出:

价格:

$35.00

[1] H.X. Zhang, J. Gonzalez-Gomez, S.Y. Chen, W. Wang, R. Liu, D.Z. Li, and J.W. Zhang, A Novel Module Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers, Proceeding of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, ETH Zurich, Switzerland, pp.85-90, Sept. (2007).

DOI: 10.1109/aim.2007.4412523

[2] S.Q. Wu, M.T. Li, S. Xiao, and Y. Li, A Wireless Distributed Wall Climbing Robotic System for Reconnaissance Purpose, Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation, Luoyang, China, pp.1380-1312, June (2006).

DOI: 10.1109/icma.2006.257816

[3] W. Shen, J. Gu, and Y. Shen, Permanent Magnetic System Design for the Wall-climbing Robot, Proceedings of the IEEE International Conference on Mechatronics & Automation, vol. 4, pp.2078-2083, July 29-Aug. 1. (2005).

DOI: 10.1109/icma.2005.1626883

[4] W. Shen, J. Gu, and Y. Shen, Proposed Wall Climbing Robot with Permanent Magnetic Tracks for Inspecting Oil Tanks, Proceedings of the IEEE International Conference on Mechatronics & Automation, vol. 4, pp.2072-2077, July 29-Aug. 1, (2005).

DOI: 10.1109/icma.2005.1626882

[5] K.A. Daltorio, A.D. Horchler, S. Gorb, A small wall-walking robot with compliant, adhesive feet, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp.3648-3653, Aug. (2005).

DOI: 10.1109/iros.2005.1545596

[6] M. Sitti, R.S. Fearing, Synthetic gecko foot-robots, Proceedings of IEEE International Conference on Robotics and Automation, 2003, vol. 1, pp.1164-1170, Sept. (2003).

DOI: 10.1109/robot.2003.1241750

[7] H.X. Zhang, J.W. Zhang, R. Liu, and G.H. Zong: submitted to International Journal of Advanced Robotic Systems, Vol. 2, No. 1, pp.53-58, (2005).

[8] S. Hirose, A. Nagakubo, and R. Toyama, Machine That Can Walk and Climb on Floors, Walls and Ceilings, In Proceedings of the 5th International Conference on Advanced Robotics, pp.753-758, (1991).

DOI: 10.1109/icar.1991.240585

[9] Na Shun Bu He, Rong Liu, Wei Wang, Hao Yang and Xu Dong Wang , A Mini Multi-joint Wall Climbing Robot Based on the Vibrating Suction Method, Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics December 15 -18, 2007, Sanya, China.

DOI: 10.1109/robio.2007.4522450

[10] Shanqiang Wu, Mantian Li, Shu Xiao and Yang Li, A Wireless Distributed Wall Climbing Robotic System for Reconnaissance Purpose, Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation June 25 - 28, 2006, Luoyang, Chin.

DOI: 10.1109/icma.2006.257816

[11] Bing L. Luk, David S. Cooke, Stuart Galt, Arthur A. Collie, Sheng Chen: submitted to Journal of Robotics and Autonomous System, ROBOT-1247, No. of pages 11, (2005).

[12] Tao Zhu Rong Liu, Xu D. Wang, Kun Wang, Principle and Application of Vibrating Suction Method, " s, 2006. ROBIO, 06 . IEEE International Conference on Robotics and Biomimetic, Dec. 2006 Page(s): 491 – 495.

DOI: 10.1109/robio.2006.340241

[13] Wei Wang, Yingying Wang, Jinhao Qi, Houxiang Zhang, Jianwei Zhang The CPG Control Algorithm for a Climbing Worm Robot, Proceedings of the 3rd IEEE Conference on Industrial Electronics and Applications, Singapore, 3-5 June 2008, ISBN 978-1-4244-1718-6.

DOI: 10.1109/iciea.2008.4582600

[14] Wei Wang, Yingying Wang and Kun Wang , Houxiang Zhang, Jianwei Zhang, Analysis of the Kinematics of Module Climbing Caterpillar Robots", Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi, an, China, 2-5 July. (2008).

DOI: 10.1109/aim.2008.4601639

为了查看相关信息, 需 Login.