TY - GEN
T1 - A wall-climbing robot with gecko features
AU - Shao, Jie
AU - Li, Xiaofeng
AU - Zong, Chengguo
AU - Guo, Wenzeng
AU - Bai, Yang
AU - Dai, Fuquan
AU - Gao, Xueshan
PY - 2012
Y1 - 2012
N2 - Geckos have an excellent locomotion ability on vertical wall surface. In this paper, a climbing robot with four magnetic tracks based on gecko-inspired method is presented. This robot can be used for inspecting and maintaining high conical towers in wind power stations. The configuration technical approach of the robot mechanical structure is given in bionics, and the stability when the robot stays on the tower wall in portrait orientation and landscape orientation is analyzed in detail. With the tracks and the redundant joints, the robot can adapt to the conical curved surface. Furthermore, the effectiveness of the design approach is simulated, and the experiment for the robot mobility and stability is verified in practical cases.
AB - Geckos have an excellent locomotion ability on vertical wall surface. In this paper, a climbing robot with four magnetic tracks based on gecko-inspired method is presented. This robot can be used for inspecting and maintaining high conical towers in wind power stations. The configuration technical approach of the robot mechanical structure is given in bionics, and the stability when the robot stays on the tower wall in portrait orientation and landscape orientation is analyzed in detail. With the tracks and the redundant joints, the robot can adapt to the conical curved surface. Furthermore, the effectiveness of the design approach is simulated, and the experiment for the robot mobility and stability is verified in practical cases.
KW - gecko-inspired robot
KW - morphological feature
KW - wall climbing robot
KW - wind power stations
UR - http://www.scopus.com/inward/record.url?scp=84867589197&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2012.6283270
DO - 10.1109/ICMA.2012.6283270
M3 - Conference contribution
AN - SCOPUS:84867589197
SN - 9781467312776
T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
SP - 942
EP - 947
BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Y2 - 5 August 2012 through 8 August 2012
ER -