{"title":"Grasping mechanism and prototype experiment of bionic sharp hook on rough surface","authors":"Wang Bei, Xu Fengyu, Yang Zhong","doi":"10.1109/M2VIP.2016.7827298","DOIUrl":null,"url":null,"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 cliffface 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.","PeriodicalId":125468,"journal":{"name":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"18 4","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/M2VIP.2016.7827298","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
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 cliffface 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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