A Low-cost, Light-weight Climbing Robot for Inspection of Class Curtains

作者：Liang Ran^*; Altaf Meteb; Ahmad Eball; Liu Rong; Wang Ke

来源：International Journal of Advanced Robotic Systems, 2014, 11(7): 106.

DOI：10.5772/58710

• Climbing Robot
• Negative Pressure Adsorption
• Multi-chamber Structure
• Glass-inspection

This paper presents design of a climbing robot for inspection of glass curtain walls. The double-chamber structure enables the robot to climb over grooves on the glasses. In order to reduce the weight, both number and shape of the chambers are specially considered, and the pressure structure is optimized by FEA method. The statics models of different adsorption situations are also analyzed and deduced for the operational safety. In addition, design of the working arm and the wireless control system are introduced in detail. Finally, experiments of the robot are illustrated, including adsorption on different surfaces, vertical and horizontal groove-crossing as well as glass inspection. These experiments fully prove the theoretical analysis and demonstrate the climbing performance of the robot.

• 出版日期2014-7-23
• 单位北京航空航天大学