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Article
Publication date: 20 March 2024

Shufeng Tang, Yongsheng Kou, Guoqing Zhao, Huijie Zhang, Hong Chang, Xuewei Zhang and Yunhe Zou

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power…

Abstract

Purpose

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

Design/methodology/approach

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Findings

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

Originality/value

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 11 March 2019

Guoda Chen, Huafeng Yang, Huiqiang Cao, Shiming Ji, Xi Zeng and Qian Wang

For the climbing rod object with large diameter variation and the need of obstacle crossing, this paper aims to propose a new embracing-type climbing robot named as EVOC-I robot.

Abstract

Purpose

For the climbing rod object with large diameter variation and the need of obstacle crossing, this paper aims to propose a new embracing-type climbing robot named as EVOC-I robot.

Design/methodology/approach

The design philosophy and structural scheme are introduced. The kinematic analysis of embracing and telescoping mechanisms is carried out to provide the theoretical foundation for the effective climbing of the robot. Based on the prototype robot, three preliminary experiments are carried out to verify the effectiveness of the designed robot.

Findings

The theoretical and experimental analyses have verified the reasonability and effectiveness of the proposed robot design.

Research limitations/implications

As the preliminary study, the prototype still need a lot of improvement. The experimental verification is also limited. Future work will focus on improving the design and increasing the theoretical analysis, especially increasing experimental study and designing the next generation of the rod climbing robot.

Practical implications

The designed climbing robot can be used for climbing the rod with variation diameter and flange obstacle, especially the lightening rod in the transformer substation.

Originality/value

The paper designs a new climbing robot that integrates the ability of large variation diameter adaptation and obstacle crossing.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 25 January 2018

Xiaolong Lu, Shiping Zhao, Xiaoyu Liu and Yishu Wang

The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external…

Abstract

Purpose

The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks.

Design/methodology/approach

The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism.

Findings

The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II.

Practical implications

The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification.

Originality/value

This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

Details

Industrial Robot: An International Journal, vol. 45 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 30 May 2019

Fengyu Xu and Quansheng Jiang

Field robots can surmount or avoid some obstacles when operating on rough ground. However, cable-climbing robots can only surmount obstacles because their moving path is…

Abstract

Purpose

Field robots can surmount or avoid some obstacles when operating on rough ground. However, cable-climbing robots can only surmount obstacles because their moving path is completely restricted along the cables. This paper aims to analyse the dynamic obstacle-surmounting models for the driving and driven wheels of the climbing mechanism, and design a mechanical structure for a bilateral-wheeled cable-climbing robot to improve the obstacle crossing capability.

Design/methodology/approach

A mechanical structure of the bilateral-wheeled cable-climbing robot is designed in this paper. Then, the kinematic and dynamic obstacle-surmounting of the driven and driving wheels are investigated through static-dynamic analysis and Lagrangian mechanical analysis, respectively. The climbing and obstacle-surmounting experiments are carried out to improve the obstacle crossing capability. The required motion curve, speed and driving moment of the robot during obstacle-surmounting are generated from the experiments results.

Findings

The presented method offers a solution for dynamic obstacle-surmounting analysis of a bilateral-wheeled cable-climbing robot. The simulation, laboratory testing and field experimental results prove that the climbing capability of the robot is near-constant on cables with diameters between 60 and 205 mm.

Originality/value

The dynamic analysis method presented in this paper is found to be applicable to rod structures with large obstacles and improved the stability of the robot at high altitude. Simulations and experiments are also conducted for performance evaluation.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 20 March 2017

Mohamed Gouda Alkalla, Mohamed A. Fanni, Abdelfatah M. Mohamed and Shuji Hashimoto

The purpose of this paper is to propose a new propeller-type climbing robot called EJBot for climbing various types of structures that include significant obstacles, besides…

Abstract

Purpose

The purpose of this paper is to propose a new propeller-type climbing robot called EJBot for climbing various types of structures that include significant obstacles, besides inspection of industrial vessels made of various materials, including non-ferromagnetic material. The inspection includes capturing images for important spots and measuring the wall thickness.

Design/methodology/approach

The design mainly consists of two coaxial upturned propellers mounted on a mobile robot with four standard wheels. A new hybrid actuation system that consists of propeller thrust forces and standard wheel torques is considered as the adhesion system for this climbing robot. This system generates the required adhesion force to support the robot on the climbed surfaces. Dynamic simulation using ADAMS is performed and ensures the success of this idea.

Findings

Experimental tests to check the EJBot’s capabilities of climbing different surfaces, such as smooth, rough, flat and cylindrical surfaces like the real vessel, are successfully carried out. In addition, the robot stops accurately on the climbed surface at any desired location for inspection purposes, and it overcomes significant obstacles up to 40 mm.

Practical implications

This proposed climbing robot is needed for petrochemical and liquid gas vessels, where a regular inspection of the welds and the wall thickness is required. The interaction between the human and these vessels is dangerous and not healthy due to the harmful environment inside these vessels.

Originality/value

This robot utilizes propeller thrusts and wheel torques simultaneously to generate adhesion and traction forces. Therefore, a versatile robot able to climb different kinds of structures is obtained.

Details

Industrial Robot: An International Journal, vol. 44 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 23 February 2024

Guizhi Lyu, Peng Wang, Guohong Li, Feng Lu and Shenglong Dai

The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF…

Abstract

Purpose

The purpose of this paper is to present a wall-climbing robot platform for heavy-load with negative pressure adsorption, which could be equipped with a six-degree of freedom (DOF) collaborative robot (Cobot) and detection device for inspecting the overwater part of concrete bridge towers/piers for large bridges.

Design/methodology/approach

By analyzing the shortcomings of existing wall-climbing robots in detecting concrete structures, a wall-climbing mobile manipulator (WCMM), which could be compatible with various detection devices, is proposed for detecting the concrete towers/piers of the Hong Kong-Zhuhai-Macao Bridge. The factors affecting the load capacity are obtained by analyzing the antislip and antioverturning conditions of the wall-climbing robot platform on the wall surface. Design strategies for each part of the structure of the wall-climbing robot are provided based on the influencing factors. By deriving the equivalent adsorption force equation, analyzed the influencing factors of equivalent adsorption force and provided schemes that could enhance the load capacity of the wall-climbing robot.

Findings

The adsorption test verifies the maximum negative pressure that the fan module could provide to the adsorption chamber. The load capacity test verifies it is feasible to achieve the expected bearing requirements of the wall-climbing robot. The motion tests prove that the developed climbing robot vehicle could move freely on the surface of the concrete structure after being equipped with a six-DOF Cobot.

Practical implications

The development of the heavy-load wall-climbing robot enables the Cobot to be installed and equipped on the wall-climbing robot, forming the WCMM, making them compatible with carrying various devices and expanding the application of the wall-climbing robot.

Originality/value

A heavy-load wall-climbing robot using negative pressure adsorption has been developed. The wall-climbing robot platform could carry a six-DOF Cobot, making it compatible with various detection devices for the inspection of concrete structures of large bridges. The WCMM could be expanded to detect the concretes with similar structures. The research and development process of the heavy-load wall-climbing robot could inspire the design of other negative-pressure wall-climbing robots.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 16 January 2017

Xiaolong Lu, Shiping Zhao, Deping Yu and Xiaoyu Liu

The purpose of this paper is to describe the design and development of “Pylon-Climber”, a pole climbing robot (PCR) for climbing along the corner columns of electricity pylon and…

Abstract

Purpose

The purpose of this paper is to describe the design and development of “Pylon-Climber”, a pole climbing robot (PCR) for climbing along the corner columns of electricity pylon and assisting the electricians to complete maintenance tasks.

Design/methodology/approach

Introduces a PCR that is composed of a simple climbing mechanism and two novel grippers. The gripper consists of two angle-fixed V-blocks, and the size of V-block is variable. The clamping method of the angle bar meets the requirement of the force closure theorem. The whole design adopts symmetrical design ideas.

Findings

The developed prototype proved possibility of application of PCRs for inspection and maintenance of pylon. The novel gripper can provide enough adhesion force for climbing robot.

Practical implications

The robot is successfully tested on a test tower composed of different specification steel angles, oblique ledges and overlapping steel struts.

Originality/value

Design and development of a novel climbing assistive robot for pylon maintenance. The robot is able to climb along the column of electricity pylon and pass all obstacles. The gripper can reliably grasp the angle bar with different specification and overlapping steel struts from multiple directions.

Details

Industrial Robot: An International Journal, vol. 44 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 18 May 2021

Yanzhang Yao, Wei Wang, Yue Qiao, Zhihang He, Fusheng Liu, Xuelong Li, Xinxin Liu, Dehua Zou and Tong Zhang

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

Abstract

Purpose

The purpose of this paper is to describe the design and development of a novel series-parallel robot, which aims to climb on the transmission tower.

Design methodology approach

This study introduces a hybrid robot, which consists of adsorption and two 3-degree of freedom (DOF) translation parallel legs connected by a body linkage. The DOF of the legs ensures that the robot can move on the climbing plane, also contribute to a compact design of the robot. An electromagnet is used to adsorb onto the transmission tower, simplifying the overall structure. Based on the robot design, this paper further defines its climbing gait and adopt the 6th B-spline curves for climbing trajectory planning under different working environments.

Findings

The developed prototype that implements the design of the robot, which was used in simulation and experiments, showing that the robot is capable of climbing in the test environments with the planned climbing gait.

Originality value

The hybrid robot is able to climb under varying degrees of inclinations and cross the obstacles, and the magnetic attraction can ensure stable climbing.

Details

Industrial Robot: the international journal of robotics research and application, vol. 48 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 24 September 2019

Robert Bogue

This paper aims to provide details of recent research into robots capable of ascending vertical or near-vertical surfaces and to illustrate how the ability to climb is set to…

Abstract

Purpose

This paper aims to provide details of recent research into robots capable of ascending vertical or near-vertical surfaces and to illustrate how the ability to climb is set to resolve a critical industrial need arising from the growth in renewable energy.

Design/methodology/approach

Following a short introduction, the first parts of this paper describe a selection of recent research activities that involve innovative concepts and designs. The second part discusses climbing robot developments aimed at the automated inspection, maintenance and repair of wind turbine blades. Brief concluding comments are drawn.

Findings

Robots that can ascend vertical or near-vertical surfaces are the topic of an extensive and technologically innovative research effort. Many developments take their inspiration from the climbing abilities of living creatures. Drones with the ability to adhere to and climb vertical surfaces are also being developed. Potential applications include inspection, surveillance and search and rescue. Climbing robots are poised to provide a solution to the need to de-man and reduce the cost of inspecting and maintaining composite wind turbine blades.

Originality/value

This provides an insight into recent innovations in climbing robot concepts and designs and shows how the ability to ascend vertical surfaces is being exploited in the robotic inspection, maintenance and repair of wind turbine blades.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 3 May 2010

Mahmoud Tavakoli, Lino Marques and Aníbal T. de Almeida

The purpose of this paper is to describe design and development of a pole climbing robot (PCR) for inspection of industrial size pipelines. Nowadays, non‐destructive testing (NDT…

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Abstract

Purpose

The purpose of this paper is to describe design and development of a pole climbing robot (PCR) for inspection of industrial size pipelines. Nowadays, non‐destructive testing (NDT) methods are performed by dextrous technicians across high‐level pipes, frequently carrying dangerous chemicals. This paper reports development of a PCR that can perform in situ manipulation for NDT tests.

Design/methodology/approach

Introduces a PCR including a novel four‐degrees of freedom climbing serial mechanism with the nearly optimal workspace and weight, unique V‐shaped grippers and a fast rotational mechanism around the pole axis. Simplicity, safety, minimum weight, and manipulability were concerned in the design process.

Findings

The developed prototype proved possibility of application of PCRs for NDT inspection on elevated structures. Design and development of PCRs which are able to pass bends and T‐junctions faces much more difficulties than those which should climb from a straight pole.

Practical implications

The robot is successfully tested on an industrial size structure (exterior diameter of 219 mm) with bends and T‐junctions.

Originality/value

Design and development of a novel pole climbing and manipulating robot for inspection of industrial size pipelines. The robot is able to pass bends and T‐junctions. The V‐shaped grippers offer many advantages including safety and tolerance to power failure. After grasping the structure, in case of power failure in any of the grippers' motors, the robot does not slip on the structure. The Z‐axis rotational mechanism provides fast navigation around the pole which is not possible with the traditional serial articulated arms.

Details

Industrial Robot: An International Journal, vol. 37 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of 889