Abstract
Climbing robots for vertical and inclined surfaces are rather new modification of mobile robots used to perform contact technological operations while simultaneously overcoming the forces of gravity. In this paper, we propose new approach to increase energy efficiency of such robots by equipping them with elastic elements used as energy accumulators. This approach to the design and control of mobile robot allows using accumulated energy of motion when servomotors are turned off. So main feature of the proposed dynamic model is transformation of accumulated potential energy into kinetic energy of motion. The simulations of proposed model prove the concept of significant decrease of energy consumption and show the influence of stiffness parameter of elastic elements on beneficial effect of its use.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Dethe, R.D., Jaju, S.B.: Developments in wall climbing robots: a review. Int. J. Eng. Res. Gen. Sci. 2(3), 33–42 (2014)
Cardinaels, R., et al.: GECO: the development of a wall-climbing robot. In: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2017), Porto, Portugal, 11–13 September 2017 (2017)
Apostolescu, T.C., et al.: Development of a climbing robot with vacuum attachment cups. In: International Conference on Innovations, Recent Trends and Challenges in Mechatronics, Mechanical Engineering and New High-Tech Products Development – MECAHITECH 2011, vol. 3 (2011)
Fujita, M., Ikeda, S., Fujimoto, T., Shimizu, T., Ikemoto, S., Miyamoto, T.: Development of universal vacuum gripper for wall-climbing robot. Adv. Robot. 32(6), 283–296 (2018)
Lam, T.L., Xu, Y.: Tree Climbing Robot: Design, Kinematics and Motion Planning. Springer, Heidelberg (2012)
Zafar, K., Hussain, I.M.: Rope climbing robot with surveillance capability. Int. J. Intell. Syst. Appl. (IJISA) 5(9), 1–9 (2013). https://doi.org/10.5815/ijisa.2013.09.01
Moniruzzaman, M., Zishan, M.S.R., Rahman, S., Mahmud, S., Shaha, A.: Design and implementation of urban search and rescue robot. Int. J. Eng. Manuf. (IJEM) 8(2), 12–20 (2018). https://doi.org/10.5815/ijem.2018.02.02
Alshbatat, A.I.N.: Fire extinguishing system for high-rise buildings and rugged mountainous terrains utilizing quadrotor unmanned aerial vehicle. Int. J. Image Graph. Sig. Process. (IJIGSP) 10(1), 23–29 (2018). https://doi.org/10.5815/ijigsp.2018.01.03
Dyshenko, V.S.: Research on dynamics of the mobile robot for vertical surfaces. Ph.D. thesis, Kursk State Technical University (2006). (in Russian)
Polishchuk, M., Opashnianskyi, M., Suyazov, N.: Walking mobile robot of arbitrary orientation. Int. J. Eng. Manuf. (IJEM) 8(3), 1–11 (2018). https://doi.org/10.5815/ijem.2018.03.01
Yampolskiy, L., Polishchuk, M., Persikov, V.: Method and device for movement of pedipulators of walking robot. UA Patent 111021, 10 March 2016
Polishchuk, M.N., Oliinyk, V.V.: Mobile climbing robot with elastic energy accumulators. Mech. Adv. Technol. 1(82), 116–122 (2018). https://doi.org/10.20535/2521-1943.2018.82.115920
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Polishchuk, M.N., Oliinyk, V.V. (2020). Dynamic Model of a Stepping Robot for Arbitrarily Oriented Surfaces. In: Hu, Z., Petoukhov, S., Dychka, I., He, M. (eds) Advances in Computer Science for Engineering and Education II. ICCSEEA 2019. Advances in Intelligent Systems and Computing, vol 938. Springer, Cham. https://doi.org/10.1007/978-3-030-16621-2_4
Download citation
DOI: https://doi.org/10.1007/978-3-030-16621-2_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-16620-5
Online ISBN: 978-3-030-16621-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)