Abstract
For visual inspection of curved surfaces, we developed a modular 3D printed climbing robot called Ibex. The robot platform consists of a locomotion module which is interconnected with two adhesion modules. The complex structural frames of the locomotion and adhesion modules and the interlocking mechanisms of these modules are completely 3D printed. The 3D printed parts enable the robot to achieve optimized weight which is highly required for adhesion and vertical navigation. It also facilitates the faster and easier form of assembly of the robot platform and reduces the manufacturing cost. To adhere both flat and curved wall surfaces, the suction cup of each adhesion module is made flexible. The flexibility of the suction cup is achieved by 3D printing fabrication methods. For better adhesion and navigation performance of the robot platform, the fabrication method and the material of the suction cup needs to be optimized. Hence, in this paper, we demonstrate the deflection capability of the suction cups with three different materials: resin (printed from Zelta3D), thermoplastic polyurethane (TPU) cups printed using Ultimaker and Cubicon printer. Results show that the suction cup printed from Zelta3D enables the highest adhesion force. In addition, we designed a set up to estimate the thrust force generated by the suction module. From experimental observation, we obtain a linear correlation between the thrust- force and the differential pressure, which can be used for the closed-loop feedback controller design of the suction module.
Published Version
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