Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In order to inspect social infrastructures such as bridge or tunnel, the wall-climbing robots have been developed based on Universal Vacuum Gripper, in short UVG. UVG adhere to uneven surface by the deformable rip part. The robots has simple structure composed of two legs with UVG and two rotational DOFs, and achieved the uneven wall climbing and move along ceiling. However, since this robot had only one adhesion point when climbing the wall, there was a risk of falling due to a failure of the vacuum pump or insufficient negative pressure on the adhesion surface. In addition, the position control of the adhesion point was difficult because of its simple structure.
In this research, in order to avoid the falling and control the position and angle of the adhesion point, we developed the four-legged wall-climbing robot based on coaxially arranged 3 DOFs legs. We evaluated the developed robot in uneven surface walls.
