Development and applications of wall-climbing robots with a single suction cup

In this paper, wall-climbing robots with a single suction cup are studied. The robots mainly consist of three parts: A vacuum pump, a sealing mechanism and a driving mechanism. Basic conditions that the robots can adhere to and move reliably on a vertical surface are first established, then the seal...

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Bibliographic Details
Published inRobotica Vol. 22; no. 6; pp. 643 - 648
Main Authors Zhao, Yanzheng, Fu, Zhuang, Cao, Qixin, Wang, Yan
Format Journal Article
LanguageEnglish
Published Cambridge, UK Cambridge University Press 01.11.2004
Subjects
Cleaning of high-rise buildings
Single suction cup
Ultrasonic inspection
Wall-climbing robot
Wall-climbing robot
Ultrasonic inspection
Single suction cup
Cleaning of high-rise buildings
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Summary:In this paper, wall-climbing robots with a single suction cup are studied. The robots mainly consist of three parts: A vacuum pump, a sealing mechanism and a driving mechanism. Basic conditions that the robots can adhere to and move reliably on a vertical surface are first established, then the sealing mechanism with an air spring and regulating springs is analyzed, and the synthetic rigidity formula for the sealing loop is obtained. Finally, two application examples are given: One for the ultrasonic inspection of cylindrical stainless steel nuclear storage tanks, and the other for cleaning high-rise buildings.
Bibliography:PII:S0263574704000517
istex:BF7D95717C09104FF5EB45160C24727EF9623DBE
ark:/67375/6GQ-QMRRJC17-X
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574704000517