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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/23894
Title: Development of a Climbing Robot Based on Multi-suction Cups Mounted on Timing Belt Mechanism
Authors: Bisht R.S.
Pathak, Pushparaj Mani
Panigrahi S.K.
Sen D.
Ananthasuresh G.K.
Mohan S.
Published in: Lecture Notes in Mechanical Engineering
5th Asian Mechanism and Machine Science Conference, MMS 2018
Abstract: Climbing robot requires adhesion mechanism for holding the robot on to the surface and locomotion mechanism for moving the robot along the wall surface in order to perform various tasks such as glass façade cleaning and remote surface inspection of civil structures. Pneumatic adhesion force control has a prominent role for safe locomotion of the climbing robot. In case of insufficient adhesion force or airflow leakage, the robot may not work properly while carrying payload such as cleaning device, multiple sensors, and power systems, etc. Actuation and de-actuation (open and close modes) of adhesion force control of multi-suction cups based on the traditional design restricts its application particularly in climbing on wall structures where the weight and electrical power have a major concern. In the present study, pneumatic adhesion mechanism based on flat suction cup has been chosen for its performance characteristics analysis, while operation under rough and smooth wall surface conditions. Based on these experimental investigations and stability analysis, pneumatic adhesion and timing belt mechanisms for simultaneous operations of adhesion and locomotion have been developed. The developed concept for multi-suction cup-based timing belt mechanism is implemented in a mobile robot for climbing on a vertical/inclined wall surface. The manufacturing trials for simultaneous locomotion and adhesion required for surface climbing have also been conducted under static and dynamic situations. © 2021, Springer Nature Singapore Pte Ltd.
Citation: Lecture Notes in Mechanical Engineering (2021): 657-669
URI: https://doi.org/10.1007/978-981-15-4477-4_47
http://repository.iitr.ac.in/handle/123456789/23894
Issue Date: 2021
Publisher: Springer
Keywords: Adhesion mechanism
Climbing robot
Guiderail mechanism
Multi-suction cup
Stability analysis
ISBN: 9.78981E+12
ISSN: 21954356
Author Scopus IDs: 57203219527
8386080200
55847942900
Author Affiliations: Bisht, R.S., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, India, Acoustics Instrumentation and Mechanical Systems Group, CSIR-CBRI, Roorkee, India
Pathak, P.M., Mechanical and Industrial Engineering Department, IIT Roorkee, Roorkee, India
Panigrahi, S.K., Acoustics Instrumentation and Mechanical Systems Group, CSIR-CBRI, Roorkee, India
Funding Details: The authors are thankful to the Director CSRI-CBRI for providing the opportunity to carry out this research work. The research work is financially supported by XII 5-year plan network projects: ESC0102 and ESC0112 of CSIR-CBRI, Roorkee. Thanks to all the team members of XII 5-year plan project and supporting staff of AIMS Group of CSIR-CBRI, Roorkee for their cooperation and support while conducting laboratory trials.
Corresponding Author: Pathak, P.M.; Mechanical and Industrial Engineering Department, India; email: pushparaj.pathak@me.iitr.ac.in
Appears in Collections:Conference Publications [ME]

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