Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 7, Issue 3, Pages 6250-6257Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2022.3162910
Keywords
Marine robotics; climbing robots; mechanism design; kinematics
Categories
Funding
- National Natural Science Foundation of China [62001262]
- Fundamental Research Funds for the Central Universities [202213029]
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This article proposes an underwater climbing adsorption robot that utilizes negative pressure adsorption and synchro-drive locomotion mechanisms to achieve maneuverability. The robot can navigate complex paths and balance adsorption and motion through discrete and continuous locomotion modes. It has the advantages of non-contact, high adsorption, and mobility, making it suitable for challenging operations on various underwater structural surfaces.
This article proposes an underwater climbing adsorption robot. The robot avoids coming into contact with adsorbates by using a mechanism of negative pressure adsorption based on Bernoulli's theorem, which allows it to generate a maneuverable force. A synchro-drive locomotion mechanism is developed to boost the maneuverability of the robot such that it can carry out omnidirectional motion using the least mechanical parts. Discrete and continuous modes of locomotion are proposed and verified to enable the robot to follow a complex path, and a switch strategy to balance its adsorption and locomotion is developed. In stationary operation mode, the adsorption force can be increased by reducing the gap to maintain the stability of the robot when carrying loads. In the motion mode, the size of the gap is increased to lend the robot a powerful obstacle-surmounting capacity when it moves on rough and curved surfaces. The results show that the proposed robot has the advantages of being non-contact, and having high adsorption and mobility that are suitable for challenging operations on a variety of underwater structural surfaces.
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