Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional si...
ISBN:
(数字)9781728137261
ISBN:
(纸本)9781728137278
Wall-climbing robots can be widely applied in search and rescue, nuclear power plant maintenance, pressure pipeline inspection and so on, as a kind of special robots in extreme environment. However, the traditional single motion mode can not ensure the stable adhesion of the robot on complex wall surfaces. Inspired by the structure characteristics of flies and clingfish, a biomimetic flexible spine wheel and an eddy suction cup mechanism are proposed. Then, based on the law of mechanism configuration synthesis, a novel wall-climbing locomotion mechanism is developed by equipping these above biomimetic mechanisms. With the elastic mechanics theory of finite element, the original stiffness matrix of a single spine wheel at different stiffness is deduced. Based on the transformation mechanism of rotation matrix and the original stiffness matrix of the spine wheel, an innovative contact model is set up to analyze the forces acting on a single spine wheel. Beyond that, mechanical analysis model between suction force and load is also presented, and the simulation results show that the mechanical model is effective and reasonable in the selection of vacuum component. Finally, we fabricated the wall-climbing robot adopting the technology of 3D printing and precision machining to verify its climbing performance. Meanwhile, experiment results present the robot could climb stably on the 0-360° wall surfaces.
Wall-climbing robot is an essential branch of robotics, and the adhesive method is the keytechnology. Nowadays, suction cups, magnets and grippers are three conventional modes for adhering. However, there are many li...
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Wall-climbing robot is an essential branch of robotics, and the adhesive method is the keytechnology. Nowadays, suction cups, magnets and grippers are three conventional modes for adhering. However, there are many limitations of the traditional methods, which make it difficult for the wall-climbing robots to adapt to most of the complicated environments. Bionics gives us inspiration to solve the limitation problems of conventional wall-climbing robots, and biomimetic wall-climbing robots have become a hot research area. Spiny feet and dry adhesives are two main bioinspired adhesive methods applied into wall-climbing robots, and relevant research status and development situation have been surveyed. In order to improve the adaption of biomimetic wall-climbing robots to both smooth and rough surfaces, we have developed a brand new multi-mode biomimetic wall-climbing robot employing four modes: spiny wheels, adhesive treads, spiny treads and a suction cup, which can switch different modes to conform to different terrains. The robot employs spiny wheels and spiny treads while meeting with rough surfaces and employs adhesive treads while encountering smooth surfaces. And a suction cup is applied all the time for assistive adhesive function. Design and prototype experiment about this robot have been represented.
Inspired by the transmission of seeds in nature, an evolutionary algorithm, seed optimization algorithm (SOA), is proposed. The algorithm is designed by simulating the self-adaptive phenomena of plant and it can be us...
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Inspired by the transmission of seeds in nature, an evolutionary algorithm, seed optimization algorithm (SOA), is proposed. The algorithm is designed by simulating the self-adaptive phenomena of plant and it can be used to resolve complex optimization problems with the evolution of plant. The global convergence analysis of SOA is made by using the Solis and Wets'research results. Finally, SOA is applied to three function optimization problems and compared with particle swarm optimization (PSO) algorithm. The experimental results show that SOA has stable and robust behaviour and it can be used as a promising alternative to existing optimization methods for engineering design.
With the advantages of light weight, thin thickness and environment friendly, the micro-perforated panel (MPP) has been widely studied for noise reduction. Maa's model pointed out that the MPP could obtain higher ...
With the advantages of light weight, thin thickness and environment friendly, the micro-perforated panel (MPP) has been widely studied for noise reduction. Maa's model pointed out that the MPP could obtain higher sound absorption over broader frequency band when the perforations were reduced to less than 100 μm. However, it is challenging to manufacture MPPs with the aperture of approximate 100 μm, thus its potential application has been restricted. In this study, we used a computer numerical control (CNC) milling machine to process MPP. Four different kinds of raw materials including paperboard, polyethylene terephthalate (PET), polyvinyl chloride (PVC), and polycarbonate (PC) were taken to prepare micro-perforated panels (MPPs). It has been indicated that MPPs with good sound absorption properties were successfully prepared by this facile method.
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