Abstract
Climbing robots are widely used to inspect smooth walls, such as glass curtain walls and ceramic tile surfaces. However, a good adsorption method for inspecting a cliff face and dusty high-altitude buildings with small-amplitude vibration has not been found. In this study, a new adsorption method using grasping claw grippers to adhere to rough walls is proposed and applied. A mechanical model for the interaction between the gripper and the uplifts on rough walls is also established to analyze the critical state of force balance of the gripper. In addition, MATLAB is used in a simulation, and an experimental prototype is designed to test the grasp stability of the gripper. Simulation and experiment results indicate that the gripper can adequately achieve grasping adsorption on a rough concrete wall. The findings provide a foundation for constructing a system for a rough-wall-climbing robot.
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This project is supported by the National Natural Science Foundation of China(51005046), Natural Science Foundation of Jiangsu Province(BK20151505), and Natural scientific research fund of Nanjing University of posts and telecommunications(NY217071).
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Xu, F., Wang, B., Shen, J. et al. Design and Realization of the Claw Gripper System of a Climbing Robot. J Intell Robot Syst 89, 301–317 (2018). https://doi.org/10.1007/s10846-017-0552-3
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DOI: https://doi.org/10.1007/s10846-017-0552-3