TY - JOUR
T1 - Development of a tracked climbing robot
AU - Zhu, Jian
AU - Sun, Dong
AU - Tso, Shiu-Kit
PY - 2002/12
Y1 - 2002/12
N2 - This paper describes a climbing robot, using chain-track as the locomotive mechanism and suction cups as the adhesion method. The main structure, sensors, and the vision-based motion control system of the robot are described in the paper. The robot can turn in a limited range by adjusting the steering wheel and twisting the chain. The turning gait is discussed and relations between turning angles of the chain node, the front wheel, and the frame of the robot are formulated. Forces applied to the robot are analyzed in order to obtain a safety condition that prevents the robot from slipping and falling. An experiment is conducted to measure the safety factor of suction cups and determine the payload capacity of the robot.
AB - This paper describes a climbing robot, using chain-track as the locomotive mechanism and suction cups as the adhesion method. The main structure, sensors, and the vision-based motion control system of the robot are described in the paper. The robot can turn in a limited range by adjusting the steering wheel and twisting the chain. The turning gait is discussed and relations between turning angles of the chain node, the front wheel, and the frame of the robot are formulated. Forces applied to the robot are analyzed in order to obtain a safety condition that prevents the robot from slipping and falling. An experiment is conducted to measure the safety factor of suction cups and determine the payload capacity of the robot.
KW - Chain-track
KW - Climbing robot
KW - Safety analysis
KW - Suction cup
KW - Turning gait
UR - http://www.scopus.com/inward/record.url?scp=0036944953&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0036944953&origin=recordpage
U2 - 10.1023/A:1022383216233
DO - 10.1023/A:1022383216233
M3 - RGC 21 - Publication in refereed journal
SN - 0921-0296
VL - 35
SP - 427
EP - 444
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 4
ER -