Development and control of flexible pneumatic wall-climbing robot |
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Authors: | Zhi-heng Wang Guan-jun Bao Li-bin Zhang and Qing-hua Yang |
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Affiliation: | Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education, Zhejiang University of Technology, Hangzhou 310032, China |
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Abstract: | A new kind of flexible pneumatic wall-climbing robot, named WALKMAN-I, was proposed. WALKMAN-I is basically composed of a
flexible pneumatic actuator (FPA), a flexible pneumatic spherical joint and six suction cups. It has many characteristics
of low-cost, lightweight, simple structure and good flexibility. Its operating principle was introduced. Then three basic
locomotion modes, which are linear motion, curvilinear motion and crossing the orthogonal planes, were presented. The safety
conditions of WALKMAN-I were discussed and built. Finally, the control system was designed and experiments were carried out.
Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,
and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°, the maximum velocity
reaches 5 mm/s, and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled. |
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Keywords: | wall-climbing robot locomotion mode flexible pneumatic actuator (FPA) flexible pneumatic spherical joint safety analysis |
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