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MST-G: Micro Suction Tape Gripper Climbing Robot with Active Detachment Capability.
Jichun Xiao1,2, Jiawei Nie1, Lina Hao2
1State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, China.
Sensors (Basel, Switzerland)
|December 17, 2024
Summary
This study introduces MST-G, a novel climbing robot with adaptive grasping, autonomous climbing, and perching. Its design enhances operational capabilities and ensures safe motion execution for legged robots.
Area of Science:
- Robotics
- Mechanical Engineering
- Control Systems
Background:
- Adaptive grasping is vital for climbing robots, yet often overlooked in favor of mobility and load capacity.
- Existing flexible grippers hinder autonomous climbing and perching, increasing robot weight and reducing load capacity.
Purpose of the Study:
- To develop a novel dry adhesion climbing robot, MST-G, with integrated adaptive grasping, autonomous climbing, and perching capabilities.
- To address the limitations of current climbing robots regarding operational grasping and autonomous motion.
Main Methods:
- Design and integration of MST-G, a robot combining legged climbing with autonomous climbing and perching.
- Implementation of a robust controller based on prescribed performance to limit joint tracking error.
Main Results:
- MST-G demonstrates autonomous climbing and perching, reducing load and ensuring stable motion when not performing tasks.
- The prescribed performance controller successfully limits joint tracking error within safety limits, ensuring reliable trajectory execution.
Conclusions:
- MST-G offers a solution for enhanced adaptive grasping and autonomous mobility in climbing robots.
- The developed controller ensures safe and reliable motion execution for complex climbing tasks.
