Abstract
Wall-climbing robots have extensive applications, however, no effective adhesion system has been designed for robots deployed in high-altitude, rough concrete buildings that are subjected to large wind loads and vibrations. This paper proposes a new suction method based on a mechanism utilizing hook-like claws and presents the design of a robot system for inspecting rough concrete walls. We present a method for describing the degree of concrete surface roughness. To study the stress imposed on the hook-like claws, we propose two types of mechanical models for the interactions between sharp claws and microprotuberances. The design method for the tips of the sharp claws is then established. Finally, an 8-foot wall-climbing robot based on a mechanism utilizing hook-like claws is designed and laboratory experiments on a man-made concrete wall are conducted. The results indicate that the low-cost system endows the robot with enhanced climbing stability and satisfies the inspection requirements for tower constructed by water brush stone or bricks.
Highlights
Wall‐climbing robots have extensive applications in engineering
Traditional adhesion designs are unsuitable for work on cracked or rough concrete surfaces, water brush stone, bricks and rocks, those found on high‐ rise structures such as cable‐stayed bridge towers and viaduct bridge piers
We propose a wall‐climbing robot based on a mechanism utilizing hook‐like claws
Summary
Wall‐climbing robots have extensive applications in engineering. The analysis of adhesion methods (Table 1) indicates that traditional adhesion systems are confined to specific applications. These robots include LEMUR II [18], which can autonomously climb vertical rock‐like surfaces using its four limbs; a bionic modular robot based on the way a pair of claws functions [19]; ROCR, which can climb rough surfaces [20]; robots with feet that adhere onto walls [21]; and the ExplorerTM family of pipe robots [23], Wind Power Tower Inspection and Maintenance Robot[24], and tree‐climbing robot[24].These robots, perform primarily climbing tasks on smooth surfaces or are used in low‐altitude applications Given this backdrop, we propose a new suction method based on the mechanism of claws, analyse the surface roughness of the concrete wall, develop an inspection robot and conduct laboratory experiments to test the performance of the method and the robot.
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