Abstract
This paper introduces a wheel-based vertical propagation robot, $Ibex$ , for visual inspection of both flat and curved surfaces. The platform is modular, consisting of vacuum-based adhesion modules and steerable-wheel locomotion modules. The adhesion module consists of a unconventional design of suction cup with sufficient structural flexibility and single-axis translation freedom that helps with adhesion to flat and curved vertical surfaces. Through experiments, we validate the locomotion, adhesion, and conformation mechanisms of the robot, and collated data of the adhesion module such as differential pressure as well as normal force measurements using force sensitive resistors and a thrust force meter. We show that the platform has ability to generate a considerable amount of adhesion force while demonstrating the ability to adhere to and move on variables types of surfaces as well as various surface curvatures including plastered cement pillars and aircraft skins.
Highlights
Vertical climbing robots as a class have been an emerging field of study, especially due to the non-planar surfaces requiring various types of services such as inspection and maintenance
EXPERIMENTAL PROCEDURE To validate the adhesion, conformation, and locomotion mechanisms of the robot, experiments were carried out to study the adhesion module. This would allow us to understand the performance of the adhesion module on various surfaces, as well as to validate whether most of the normal force is acting on the suction chamber rather than on the suction cup
We analysed the data collected from the experiment setup in order to check if the design considerations for the adhesion and locomotion modules are validated, as well as to gather information about the system that could be used to control the system in future works
Summary
Vertical climbing robots as a class have been an emerging field of study, especially due to the non-planar surfaces requiring various types of services such as inspection and maintenance. Conformation mechanisms are developed to ensure that robot systems would adhere to and move on the surface more effectively, resulting in greater surface coverage as compared to robots which do not have such mechanisms. These can be divided into three general ways, namely precise positioning, structural conformation, or structural fit. To deal with the various curvatures, we decided to use a flexible suction cup which would conform to various types of curvatures Another design consideration is to minimise slippage caused by mechanical issues. Based on the design considerations, Ibex, a vertical wall climbing vision-based inspection robot for flat and curved surfaces, is developed.
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