检索结果-内蒙古大学图书馆

Grappling claws for a robot to climb rough wall surfaces: Mechanical design, grasping algorithm, and experiments

ROBOTICS AND AUTONOMOUS SYSTEMS 2020年 128卷 103501-103501页

作者： Xu, Fengyu Meng, Fanchang Jiang, Quansheng Peng, Gaoliang Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Suzhou Univ Sci & Technol Sch Mech Engineer Suzhou 215009 Peoples R China Harbin Inst Technol Sch Mech & Elect Harbin 150001 Peoples R China

Wall-climbing robots have been widely applied in the inspection of smooth walls. However, only a few adhesion methods have been developed for robots that will allow them to climb cliffs and dusty, high-altitude, rough walls (constructed using coarse concrete, bricks, and stones, etc.) that may be subjected to vibrations. This paper proposes a suitable adhesion method that employs grappling-hook-like claws arranged in a cross shape. First, we address the implementation mechanism required. Then, a method of extracting the characteristic parameter is revealed rough wall was devised, 3D profiles of rough walls were simulated, and the discriminant conditions necessary for the claws to stably grasp the wall were provided. A method of triangulation is proposed to judge which regions of a 3D wall can be gripped, and we subsequently present a grasping discrimination algorithm for the interaction between the miniature claws and 3D wall profile. Finally, a prototype of the grappling-hook-like claw system was fabricated. A test platform was built to test the robot which incorporates an electromagnetic vibration shaker to simulate a vibrating wall. Experiments were then carried out on the robot using the vibrating wall and a random outdoor wall. The results verified the feasibility of the proposed claws and the validity of the discriminant algorithm for gripping 3D walls. Compared with traditional adhesion approaches, the proposed method (based on hook-like claws) is more adaptable to suit various types of wall. It also has higher resistance to disturbances and so provides a more reliable method of adhesion for robots on rough walls. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Flexible grasping claw grasping discrimination algorithm 3D wall Asperity of rough wall surfaces

来源：评论

学校读者我要写书评

暂无评论

The Graspable algorithm for a Wall-Climbing Robot with Claws 12th

The Graspable Algorithm for a Wall-Climbing Robot with Claws

引用

12th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Meng, Fanchang Guo, Yiquan Xu, Fengyu Jiang, Guoping Wang, Bei Nanjing Univ Posts & Telecommun Coll Automat Nanjing Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing Peoples R China

ISBN: (纸本)9783030275327;9783030275310

Wall-climbing robots have been widely used in the inspection of smooth walls. However, no satisfactory adhesion methods have been developed for robots that will allow them to climb rough walls. This paper proposes a suitable adhesion method that employs grappling-hook-like claws arranged in a cross shape. First, we address the implementation mechanism required. Then, a method of extracting the parameters characterizing a rough wall is devised, and 3D profiles of rough walls simulated. A method of triangulation is proposed to judge which regions of a 3D wall can be gripped, and we subsequently present a grasping discrimination algorithm for the interaction between the miniature claws and 3D wall profile. Finally, the simulation proves the validity of the discriminant algorithm for gripping 3D walls. It provides a more reliable method of adhesion for robots on rough walls.

关键词： Flexible grasping claw grasping discrimination algorithm Asperity of rough wall surfaces

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：