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	Wall climbing robot employing multibody flexible permanent magnetic adhesion system
	Gui Zhongcheng ; Chen Qiang ; Sun Zhenguo
	2010-10-12 ; 2010-10-12
关键词	Practical Theoretical or Mathematical/ adhesion adhesives mobile robots robot dynamics/ wall climbing robot multibody flexible permanent magnetic adhesion system wheeled locomotion mechanism adhesive devices free-rolling wheels complex curved-surface self adaptation/ C3390C Mobile robots E2230 Robot and manipulator mechanics E2180Z Other specific mechanical properties (mechanical engineering) E1520E Joining processes and welding E1550A Robotics
中文摘要	To insure reliable adhesion and agile movement of the wall climbing robot (WCR) of gapped permanent magnetic adhesion type system on complex curved surface, key problems needed to be solved when the robot runs on such surfaces are analyzed. Then the scheme of WCR applying multibody flexible adhesion system is put forward. WCR is composed of a wheeled locomotion mechanism and an adhesive system, and the adhesive system is mounted on the chassis of the wheeled locomotion mechanism and noncontact with the wall's surface. The adhesive system is made up of several separate adhesive devices, each adhesive device is connected to the wheeled locomotion mechanism through a mechanism with 2 rotating degrees of freedom and is partly or fully supported by several omnidirectional free-rolling wheels when running on the wall's surface, then each adhesive device can adjust its posture relative to the wall's surface due to the adhesive force. Multibody dynamics simulation is conducted to design the WCR, the prototypes are manufactured to test the design, and the performance of adhesive system's self-adaptation to curved surface is optimized. Results of simulation and experiments indicate that the WCR can adapt to the change of curvature and shape of the wall surface automatically, the robot's performance of adhesion and mobility running on complex spatial curved surfaces is close to corresponding its performance on flat surfaces, which means that the robot is capable of running with large payload and good mobility on complex spatial curved surfaces.
语种	中文
出版者	Chinese Journal of Mechanical Engineering ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/78466]
专题	清华大学
推荐引用方式 GB/T 7714	Gui Zhongcheng,Chen Qiang,Sun Zhenguo. Wall climbing robot employing multibody flexible permanent magnetic adhesion system[J],2010, 2010.
APA	Gui Zhongcheng,Chen Qiang,&Sun Zhenguo.(2010).Wall climbing robot employing multibody flexible permanent magnetic adhesion system..
MLA	Gui Zhongcheng,et al."Wall climbing robot employing multibody flexible permanent magnetic adhesion system".(2010).

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