Development And Challenges Of Wall-Climbing Robots With Tracked Wheel Mechanisms

Applications of climbing robots

Question:

Discuss About The Development Tracked Climbing Of Intelligent?

The application is for the mobility of the robots and to handle the high place factors which works over cleaning over all the other outer walls of the high-rising buildings. The inspection of the storage tanks in the nuclear power plants is important for the performance mainly by the human operators so that a proper and the specific research in the field of mobile robotics could be done. The climbing of the vertical sauces is researched and developed over the world where the most climbing robots tend to handle the locomotion and the adhesion. The adhesive mechanisms with the climbing of robots can attach to the wall (Chu et al., 2010). This is mainly using suction form and the magnetic force for the inter locking and handling the climbing environment which is composed of ferromagnetic surface. The robot marketing use of the micro spine which can attach to the different rough surfaces of the wall. The mechanism is found to be novel based on the value that adheres to the force of adhesion set by the roughness of the surface. There is a need to properly research about handling the suction pads and work on the applicability and the robustness when compared to the other adhesive mechanisms (Fischer et al., 2007).

The case of the locomotive mechanism is based on handling the legged mechanisms with the sliding and the tracked wheel mechanisms. Here, the major advantage is about employing the legged mechanism that can overcome any of the uneven surfaces on the system. 

The research is based on the realization of the sliding mechanism with the legged mechanism that determines about the speed which is low mainly due to the discontinuous motion. The use of the tracking wheel mechanism where one can move faster with the continuous motion employs a chain track with suction pads. The employing of the control of suction pads is mainly controlled by the solenoid valve which is found to be of the larger size with the forms that include the length of 720mm and the width of 370mm (Kim et al., 2008). The new concept of the paper is about handling the climbing of the robot with the continuous motion presented. The locomotive function with the higher speed of climbing is mainly realized with adapting to the series of the chains that are on the two tracked wheels. There are different 24 suction pads which are involved with the use of the mechanical waves (Kim et al., 2010).

Adhesive mechanisms and climbing robots

The paper has also been about the structure which is depending upon the engineering design. The engineering analysis is based on controlling the required force of suction and the tendency is mainly to maintain the pressure which is in the system. The experimental results are related to the climb of the speed and the payloads as described (Lee et al., 2003). This also includes the climbing performance with proper optimisation of the experiment to maximise the pressure of the vacuum and minimise the fluctuations of the suction pads vacuum pressure. This is through the Taguchi methodology that has been adopted.

The tendency is to match with the main frame systems with the proper handling of the wheel tracking that has been set to take hold of the vacuum pumping methods with the actuation modules. (Lee et al., 2012). The tracked wheel system is based on the timing of the belt and the pulley where there are 12 suction pads. The movement is based on guiding the suction pads which is according to the wheel rotation and through the controlled operations of the mechanical valve setup (Menon et al., 2004).

The wireless control system with the on/off control of the valve is to handle the mechanism which is mainly operated by the wheel rotation. The only change is in the driving motor with the direction and the speed change (Zhu et al., 2002). The working is also based on how the tracked wheel mechanism is for the robot which can employ the wheels with the locomotive mechanism. The continuous comparison has been done to the other climbing robots using the legged or the sliding mechanism where the speed of the climbing of the robot is improved (Prahlad et al., 2008). The operations are based on how the mechanical valve is chocked mainly due to the spring which is in the valve and which tend to close the opening. The curved profile with the free flow mainly occurs between the suction pad and the vacuum pump (Seo et al., 2011).

The analysis is based on the fact to handle the slipping or the robot climing, where there is a sufficient suction force that can handle the robot weight as required. The tendency to handle the vacuum pressure change is dependent on determining the force of suction in the system of the robot, which includes the pressure of the vacuum that needs to handle the requirement of the sustainable weight of the robot. There are approximately 24 suction pads which are for the robot systems which are directly connected to the vacuum pump (Seo et al., 2013). The mechanical value is set when there are different suction pads which are attached to the wall by the wheel rotation. Hence, the major effect is with the periodic function with the addition of the volume that includes the exertion of the robot performance (Yan et al., 1999).

Locomotive mechanisms of climbing robots

The volume flow rate of the pump mainly depends on the pressure which includes the addition to the working of the vacuum pump. Here, the simulation is based on handling the performances which are depending upon the experiments related to the speed of climbing. (Xu et al., 2002). For the optimisation of the experiment, Taguchi methodology has been used for the proper approach which is designed for the time-consuming factors, which also includes the making of use of the different classified systems. The importance is based on determining the product quality and then setting the configurations which are for determining the levels set with the typical control levels. The levels are also displayed with the undesired parameters when related to the experiment. The objectives of the control factors and the noise factors is to take hold of the minimisation of the pressure of fluctuation (Shen et al., 2005).

Conclusion

The major focus has been on handling the maximisation of the function with the timing that is based on handling the change in pressure as well. There are control factors which are the diameter of the pneumatic tube, with the configuration of the profile cam and the other air tunnels which are used in the valve. This is set with the control factors which could easily be determined through the fine-tuning process (Silva et al., 2008). The wall-climbing robots makes use of the tracked wheel mechanism where there is a continuous locomotive motion with the higher speed to climb. This could easily be achieved through the suction pads which have been installed with the detail about the mechanical valves of the system.

References

Chu, B., Jung, K., Han, C.S. and Hong, D., 2010. A survey of climbing robots: Locomotion and adhesion. International journal of precision engineering and manufacturing, 11(4), pp.633-647.

Fischer, W., Tâche, F. and Siegwart, R., 2007, October. Inspection system for very thin and fragile surfaces, based on a pair of wall climbing robots with magnetic wheels. In Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on (pp. 1216-1221). IEEE.

Kim, H., Kim, D., Yang, H., Lee, K., Seo, K., Chang, D. and Kim, J., 2008. Development of a wall-climbing robot using a tracked wheel management. Journal of mechanical science and technology, 22(8), pp.1490-1498.

Kim, H.W.A.N.G., Seo, K.U.N.C.H.A.N., Lee, K.Y.U.H.E.E., Kim, J.O.N.G.W.O.N. and Kim, H., 2010, August. Development of a multi-body wall climbing robot with tracked wheel mechanism. In Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR) (pp. 439-446).

Lee, C.H., Kim, S.H., Kang, S.C., Kim, M.S. and Kwak, Y.K., 2003. Double-track mobile robot for hazardous environment applications. Advanced Robotics, 17(5), pp.447-459.

Lee, G., Wu, G., Kim, J. and Seo, T., 2012. High-payload climbing and transitioning by compliant locomotion with magnetic adhesion. Robotics and Autonomous Systems, 60(10), pp.1308-1316.

Menon, C., Murphy, M. and Sitti, M., 2004, accounting. Gecko inspired surface climbing robots. In Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on (pp. 431-436). IEEE.

Prahlad, H., Pelrine, R., Stanford, S., Marlow, J. and Kornbluh, R., 2008, May. Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology. In Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on (pp. 3028-3033). IEEE.

Seo, T. and Sitti, M., 2011, May. Under-actuated tank-like climbing robot with various transitioning capabilities. In Robotics and Automation (ICRA), 2011 IEEE International Conference on (pp. 777-782). IEEE.

Seo, T. and Sitti, M., 2013. Tank-like module-based climbing robot using passive compliant joints. IEEE/ASME Transactions on Mechatronics, 18(1), pp.397-408.

Shen, W., Gu, J. and Shen, Y., 2005, July. Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks. In Mechatronics and Automation, 2005 IEEE International Conference (Vol. 4, pp. 2072-2077). IEEE.

Silva, M.F., Machado, J.T. and Tar, J.K., 2008, November. A survey of technologies for climbing robots adhesion to surfaces. In Computational Cybernetics, 2008. ICCC 2008. IEEE International Conference on (pp. 127-132). IEEE.

Sintov, A., Avramovich, T. and Shapiro, A., 2011. Design and motion planning of an autonomous climbing robot with claws. Robotics and Autonomous Systems, 59(11), pp.1008-1019.

Xu, Z. and Ma, P., 2002. A wall-climbing robot for labelling scale of oil tank's volume. Robotica, economics, pp.209-212.

Yan, W., Shuliang, L., Dianguo, X., Yanzheng, Z., Hao, S. and Xueshan, G., 1999. Development and application of wall-climbing robots. In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on (Vol. 2, pp. 1207-1212). IEEE.

Zhu, J., Sun, D. and Tso, S.K., 2002. Development of a tracked climbing robot. Journal of Intelligent & Robotic Systems, 35(4), pp.427-443.