Wall Climbing Research Articles

Design & Fabrication of Vertical Surface Cleaner

Abstract: The Wall Climbing Robot designed in this study to combines the innovative propulsion system of propellers with the traditional locomotion method of wheels to achieve versatile and efficient mobility on both vertical and horizontal surfaces. By integrating propellers and wheels, the robot can seamlessly transition between climbing walls and moving along flat surfaces. The hybrid design not only enhances the robot's mobility but also optimizes its energy efficiency, making it suitable for prolonged missions in various environments. This research explores the synergistic integration of propellers and wheels, showcasing the robot's adaptability in real- world applications such as surveillance, inspection, and maintenance tasks in both indoor and outdoor scenarios. The developed Wall Climbing Robot presents a significant advancement in robotic mobility, offering a promising solution for complex tasks in diverse settings

Student sports achievement: Can it control body mass index (BMI) and cholesterol?

The aim of this study was to assess the BMI and cholesterol levels of athletes selected for preparation for the National Sports Week in Indonesia. The study used a quantitative approach through a survey with researchers giving a test and measurement. The subjects used as research samples were all athletes in the sports of Weightlifting, Fencing, Aero Modeling, Bicycle Racing, Billiard, Handball, Badminton, Parachuting, Judo, Karate, Kempo, Muay Thai, Archery, Wall Climbing, Pencak Silat, Petangque, Swimming, Sepak Takraw, Taekwondo, Tarung Derajat, Table Tennis, Boxing, Volly Beach, Wushu. Additionally, following the selection test, a total of 328 athletes were included in the study. Instruments utilized in this study included the Omron Karada Scan HBF-328 scales for weight measurement, and the OneTouch device for cholesterol testing. The data were analyzed using Microsoft Excel and IBM SPSS Statistics version 26. The results revealed that the mean BMI and cholesterol levels were 22.85 and 171.38, respectively. Among the athletes, 11% were categorized as underweight, 63.11% as normal weight, 21.65% as overweight, 2.74% as obese I, 0.91% as obese II, and 0.61% as obese III. In terms of cholesterol levels, 80% were within the normal range, 10% were low, and 10% were high. Non-parametric correlation analysis demonstrated no significant relationship between BMI and cholesterol levels among the athletes, with a significance value of 0.815. This study concluded that the athlete's BMI was normal, as well as the average athlete's cholesterol condition in normal conditions.

Design and Validation of Payload: Weight for a Bioinspired Inch Worm Wall Climbing Robot (IWWCR) Using Coppeliasim

In this growing era technology robots are replacing the humans by performing many risky operations enhancing the safety factor of human life. Particularly while considering performing task at high rise building or any high-altitude jobs, the need of wall climbing robot emerges. There are various types of wall climbing robot classified based on its adhesive mechanism and locomotive methods. Out of the various available method, Bioinspired type Robot has its own unique feature specifically when we talk about softbot. Bio inspired robots mimics the locomotion or any other specific feature of living creatures In this paper, an novel approach is introduced for design and development of a Bio inspired Wall Climbing Robot (WCR) using a simulation software named Coppelialsim. An inch worm wall climbing robot is proposed mimicking the locomotion of inch worm is proposed as novel design. The design of the proposed WCR is validated with respect to payload(p): weight (w) value using the static and dynamic analysis both in simulation environment using coppeliasim software and real time experimental testing after fabrication. The flow of electromagnetic flux is further justified with the software called Finite Element Magnetic Method (FEMM) and the structural design of the proposed design is validated with respect to the Computer Aided Analysis (CAA) software. Thus, the proposed IWWCR possess the high p: w value when compared to all other existing bioinspired Wall climbing Robot

Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model

Abstract Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.

Utilization of a Wall Climbing Robot for Inspection Technology

Utilization of a Wall Climbing Robot for Inspection Technology

Design of Wall Climbing Robot Device based on Bionics

Based on the principles of bionics and vacuum adsorption, a bionic wheeled robot is preliminarily constructed. The driving part of the device is fully pneumatic. The operation process depends on the circulation of suction and exhaust of each set of suction cups, Achieve the function of adsorption and climbing. It is a pneumatic wall climbing robot device. The device not only has the advantages of fast moving speed and high efficiency of wheeled robot, but also has the advantages of bionic wall climbing robot. Wall climbing robots can climb on vertical walls. After loading various tools, it can replace workers to carry out some complex or dangerous work. it is widely used in all walks of life.

Adsorption Structure Design of a Wall Climbing Robot for a Spherical Tank

The main body of the LPG (Liquefied Petroleum Gas) spherical tank is a spherical shell, which is a component to store materials and bear the working pressure of materials and the static pressure of the liquid column. Because most spherical tanks are pressure or cryogenic vessels, most materials are flammable and explosive, and the loading capacity is large. Once an accident occurs, the consequences will be unimaginable. Therefore, more and more companies and research institutes are now involved in the research of robots suitable for the operation of spherical tanks. Among them, the foundation and premise of the spherical tank climbing robot are stable and have reliable adsorption capacity. Based on in-depth investigation and research on the existing robot adsorption structure and considering its actual working conditions, this paper designed an adsorption technology based on the combination of permanent magnetic adsorption and electromagnetic adsorption, which mainly focuses on permanent magnetic adsorption and automatically adjusts the electromagnetic adsorption force according to the robot attitude. Thus, the robot has good adsorption and driving performance at any position on the ball wall.

The Effect of Circuit Exercise on Wall Climbing Speed on Speed Climbing Technique in Mapala Athlets University of PGRI Palembang

The problem of this research is that athletes do not have maximum speed in climbing speed climbing techniques. The purpose of the study was to determine the effect of circuit training on the speed of wall climbing in speed climbing techniques in mapala athletes at PGRI Palembang University. The research method is an experimental method of one group pretest-posttest design technique. The research population is 10 people and the sample is the total population. Data collection uses tests, with speed climbing technique speed test instruments. Data analysis used paired sample t test SPSS 16. The results of the study stated that there was an effect of circuit training on speed climbing wall speed climbing techniques in mapala athletes at PGRI Palembang University because Tcount T table (6.810 1.83).

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

The application of Soft Crawling Robots (SCRs) to real‐world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult‐to‐reach environments by any obstacles. To overcome these limitations, a novel multimodal Tasering Twin Soft Robot (TTSR), carrying two SCRs, capable of 1) passive flight and 2) wall climbing to a desired location by deploying SCRs once reached the target is proposed. For satisfying both tasks, reconfigurable design of SCRs using a novel bistable mechanism and detaching mechanism based on a shape‐memory alloy for deploying SCRs is proposed. Each SCR is driven by two dielectric elastomer actuators (DEA) and three electroadhesive (EA) feet. To demonstrate multimodality, the TTSR with two SCRs is launched by pneumatic pressure and flown over an obstacle. While flying, the SCRs are folded compactly to reduce the air drag and perch on a wall 3 m away (50 times of body length) within 0.64 s. After perching, the SCRs reconfigure themselves for crawling and separated from each other. After that, the SCRs crawl, performing planar motion, and reach predefined locations on the wall. Moreover, the SCR can move across 15°‐slope dihedral surfaces and inverted surface.

The Impact of Running at Night on Physical Fitness

This study aims to determine the impact of running at night on physical fitness. This research uses experimental research with a one shot case study design. The sample in this study was the wall climbing community of Saparua Bandung. Based on the results of the data, it can be concluded that there is a significant effect of running at night on physical fitness. The results of this study indicate that members of Wall Climbing Saparua Bandung have 0% members with poor fitness levels, 1% in the poor category, 25% members in the moderate category, 65% members in the good category, and 5% members in the poor category. excellent level of physical fitness. So it can be concluded that the members of the Wall Climbing Saparua Bandung community have a good level of physical fitness

Study of Wall Climbing Robot through the Simulation of Multi-Body Dynamics

Study of Wall Climbing Robot through the Simulation of Multi-Body Dynamics

CPG-based Motion Planning of Hybrid Underwater Hexapod Robot for Wall Climbing and Transition

Most of the existing underwater legged robots are capable of moving on small-angled slopes, but few of them can climb the large-angled slope or transition from one plane to another, such as transition from horizontal plane to vertical plane. In this paper, we propose a motion planning method of a hybrid underwater hexapod robot (HUHR) driven by six C-shape legs and eight thrusters. By analyzing the relationship between rotation and displacement of the hip joint, we establish a single-leg kinematic model. By analyzing the force at the touchpoint, we propose a locomotion mechanism to ensure no slip of the C-shape leg. Based on the central pattern generator (CPG) and tripod gait, we design an aperiodic mapping between the oscillator outputs and the desired rotation angles of hip joints. Overall, a gait planning and control method for our robot is proposed to realize continuous legged locomotion from one plane to another, including directional climbing and transition between them. Furthermore, the effectiveness of the proposed method has been verified on HUHR.

Construction Technology of Exterior Wall Climbing Frame of High-rise Buildings

Construction Technology of Exterior Wall Climbing Frame of High-rise Buildings

Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel

Attitude Estimation of Wall Climbing Robot on Cylinder-shaped Steel

Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot

Owing to the revision of Japanese building law in 2008, the demand for wall inspections has been increasing. Currently, wall inspections are performed by workers using hammering devices; this involves dangerous work at high elevations. Therefore, we developed an inspection system using NOBORIN®, a hanging-type wall climbing robot. In this paper, we introduce the robot and its hammering inspection system, and propose a method for image mosaicking and localization using images captured from an equipped camera. The estimated values are used to correct the elevation motion(s) of the robot.

An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR

A wall climbing inspection robot has been designed to climb on safety critical concrete structures by adhering to reinforcement steel bars (rebars) using permanent magnets to generate the adhesion forces. Simulation and experimental validation has been performed to determine the optimum flux focusing magnet configurations with the robot operating on 30 to 35mm of concrete cover over rebars arranged in different patterns. The goal of adhesion force optimization is to be able to carry a ground penetrating radar (GPR) sensor which detects rebar corrosion, concrete delamination and concrete cover deterioration. The autonomous robot uses an ultra-wide band (UWB) localisation system and GPR data to control its motion trajectories to avoid regions where there is insufficient density of rebars. Non-destructive testing (NDT) inspection data acquired by GPR is transmitted wirelessly to a ground station for processing and monitoring by NDT technicians.

Development of Wall Climbing Robot with Magnetic Crawlers to Support Paint Removal of Steel Bridges

Development of Wall Climbing Robot with Magnetic Crawlers to Support Paint Removal of Steel Bridges

Wall Climbing Robot Based on Universal Vacuum Gripper with Bellows Linear Motion Mechanism

Wall Climbing Robot Based on Universal Vacuum Gripper with Bellows Linear Motion Mechanism

Application of Wall Climbing Welding Robot in Automatic Welding of Island Spherical Tank

Feng, X.-B.; Gao, L.-S.; Tian, W.; Wei, R.; Wang, Z.-W., and Chen, Y., 2020. Application of wall climbing welding robot in automatic welding of island spherical tank. In: Qiu, Y.; Zhu, H., and Fang, X. (eds.), Current Advancements in Marine and Coastal Research for Technological and Sociological Applications. Journal of Coastal Research, Special Issue No. 107, pp. 1-4. Coconut Creek (Florida), ISSN 0749-0208.With the rapid development of China's energy industry, marine energy exploitation has become an important part of China's oil supply, which has adjusted China's energy structure. Therefore, in the exploitation of offshore oil such as islands, spherical tank engineering has been greatly affected, which requires us to improve the automatic welding technology of wall climbing robot. Through the automatic welding technology of climbing wall welding robot, we can improve the welding quality and efficiency of spherical tank, which will improve the all position welding technology of spherical tank in China. Therefore, the disadvantages of low efficiency of traditional electrode arc welding process can't meet the needs of offshore oil storage and transportation, which requires us to improve the automatic welding technology of spherical tank wall climbing welding robot, which has become the dream of Offshore Petrochemical construction. Firstly, this paper analyzes the application of spherical tank welding robot. Then, the fusion welding forming model based on BP neural network is studied. Finally, this paper analyzes the key technology trend in the future.