Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State
Abstract
:1. Introduction
2. Strategy of Compliant Detachment
2.1. Mechanism of Detachment Force Regulation
2.2. Online Impedance Adaptation Controller
3. Robot System
3.1. Mechanical Structure of Wall-Climbing Robot
3.2. Control System Setup of Wall-Climbing Robot
4. Experiments and Results
4.1. Detachment Force Trace during Climbing
4.2. Robot Stability on Various Surfaces with Various Slope Angles
5. Conclusions
Supplementary Materials
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
Appendix A
Appendix B
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| | | | | |
---|---|---|---|---|---|
Suction | √ | √ | |||
Magnetic | √ | ||||
Claw | √ | ||||
Dry adhesion | √ | √ | √ | ||
Position controller | √ | √ | √ | √ | √ |
Online impedance adaptive controller | √ |
L | H | |||
---|---|---|---|---|
70 mm | 60 mm | 10 mm | 0.45 | 1.2 |
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Wang, B.; Xiong, X.; Duan, J.; Wang, Z.; Dai, Z. Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State. Appl. Sci. 2021, 11, 5860. https://doi.org/10.3390/app11135860
Wang B, Xiong X, Duan J, Wang Z, Dai Z. Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State. Applied Sciences. 2021; 11(13):5860. https://doi.org/10.3390/app11135860
Chicago/Turabian StyleWang, Bingcheng, Xiaofeng Xiong, Jinjun Duan, Zhouyi Wang, and Zhendong Dai. 2021. "Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State" Applied Sciences 11, no. 13: 5860. https://doi.org/10.3390/app11135860