A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable. It is therefore difficult for them to adapt to a discontinuous wall with particularly large gaps. Based on a modular design and inspired by leech peristalsis and internal so...

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Autores principales:	Wenkai Huang, Wei Hu, Tao Zou, Junlong Xiao, Puwei Lu, Hongquan Li
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	wall-climbing robot modular variable step distance variable load internal soft bone payload power factor Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/5c10b8eecc7d4201af8ae05dc6a76732
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id	oai:doaj.org-article:5c10b8eecc7d4201af8ae05dc6a76732
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spelling	oai:doaj.org-article:5c10b8eecc7d4201af8ae05dc6a767322021-11-25T18:57:17ZA Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone10.3390/s212275381424-8220https://doaj.org/article/5c10b8eecc7d4201af8ae05dc6a767322021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7538https://doaj.org/toc/1424-8220Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable. It is therefore difficult for them to adapt to a discontinuous wall with particularly large gaps. Based on a modular design and inspired by leech peristalsis and internal soft-bone connection, a bionic crawling modular wall-climbing robot is proposed in this paper. The robot demonstrates the ability to handle variable load characteristics by carrying different numbers of modules. Multiple motion modules are coupled with the internal soft bone so that they work together, giving the robot variable-step-distance functionality. This paper establishes the robotic kinematics model, presents the finite element simulation analysis of the model, and introduces the design of the multi-module cooperative-motion method. Our experiments show that the advantage of variable step distance allows the robot not only to quickly climb and turn on walls, but also to cross discontinuous walls. The maximum climbing step distance of the robot can reach 3.6 times the length of the module and can span a discontinuous wall with a space of 150 mm; the load capacity increases with the number of modules in series. The maximum load that <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>N</mi></semantics></math></inline-formula> modules can carry is about 1.3 times the self-weight.Wenkai HuangWei HuTao ZouJunlong XiaoPuwei LuHongquan LiMDPI AGarticlewall-climbing robotmodularvariable step distancevariable loadinternal soft bonepayload power factorChemical technologyTP1-1185ENSensors, Vol 21, Iss 7538, p 7538 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	wall-climbing robot modular variable step distance variable load internal soft bone payload power factor Chemical technology TP1-1185
spellingShingle	wall-climbing robot modular variable step distance variable load internal soft bone payload power factor Chemical technology TP1-1185 Wenkai Huang Wei Hu Tao Zou Junlong Xiao Puwei Lu Hongquan Li A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
description	Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable. It is therefore difficult for them to adapt to a discontinuous wall with particularly large gaps. Based on a modular design and inspired by leech peristalsis and internal soft-bone connection, a bionic crawling modular wall-climbing robot is proposed in this paper. The robot demonstrates the ability to handle variable load characteristics by carrying different numbers of modules. Multiple motion modules are coupled with the internal soft bone so that they work together, giving the robot variable-step-distance functionality. This paper establishes the robotic kinematics model, presents the finite element simulation analysis of the model, and introduces the design of the multi-module cooperative-motion method. Our experiments show that the advantage of variable step distance allows the robot not only to quickly climb and turn on walls, but also to cross discontinuous walls. The maximum climbing step distance of the robot can reach 3.6 times the length of the module and can span a discontinuous wall with a space of 150 mm; the load capacity increases with the number of modules in series. The maximum load that <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi>N</mi></semantics></math></inline-formula> modules can carry is about 1.3 times the self-weight.
format	article
author	Wenkai Huang Wei Hu Tao Zou Junlong Xiao Puwei Lu Hongquan Li
author_facet	Wenkai Huang Wei Hu Tao Zou Junlong Xiao Puwei Lu Hongquan Li
author_sort	Wenkai Huang
title	A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
title_short	A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
title_full	A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
title_fullStr	A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
title_full_unstemmed	A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone
title_sort	modular cooperative wall-climbing robot based on internal soft bone
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/5c10b8eecc7d4201af8ae05dc6a76732
work_keys_str_mv	AT wenkaihuang amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT weihu amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT taozou amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT junlongxiao amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT puweilu amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT hongquanli amodularcooperativewallclimbingrobotbasedoninternalsoftbone AT wenkaihuang modularcooperativewallclimbingrobotbasedoninternalsoftbone AT weihu modularcooperativewallclimbingrobotbasedoninternalsoftbone AT taozou modularcooperativewallclimbingrobotbasedoninternalsoftbone AT junlongxiao modularcooperativewallclimbingrobotbasedoninternalsoftbone AT puweilu modularcooperativewallclimbingrobotbasedoninternalsoftbone AT hongquanli modularcooperativewallclimbingrobotbasedoninternalsoftbone
_version_	1718410524779085824

A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

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