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A Collaborative Flipping Continuum Wall-Climbing Robot with Integrated Drive and Function.

Yehui Shen, Shining Yan, Haiyang Du

  • 1Institution of School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China.

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Summary
This summary is machine-generated.

This study introduces a novel flipping continuous wall-climbing robot designed for complex environments. The robot demonstrates advanced mobility, including navigating confined spaces and transitioning between surfaces, overcoming previous limitations.

Keywords:
collaborative operationcontinuum wall-climbing robotunstructured environmentvariable radius flipping walking

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Artificial Intelligence

Background:

  • Climbing robots, particularly flipping types, show promise for unstructured environments.
  • Movement in complex, constrained, and unstructured spaces remains a significant challenge for current robots.

Purpose of the Study:

  • To propose a novel flipping continuous wall-climbing robot.
  • To enhance the robot's adaptability in complex, unstructured, and constrained environments.
  • To enable continuous movement, obstacle negotiation, and multi-plane transitions.

Main Methods:

  • Design of a robot with a three-segment continuous joint trunk and magnetic adhesion modules.
  • Untethered design for enhanced mobility.
  • Analysis of the robot's kinematic model and workspace.

Main Results:

  • The robot successfully performs wall climbing, turning, obstacle overcoming, and transitions between different planes.
  • Demonstrated ability to traverse narrow gaps (15 cm diameter) and confined spaces (11 cm width).
  • Achieved variable-radius flipping locomotion, supported a 520 g payload, and enabled multi-robot coordination.

Conclusions:

  • The developed robot overcomes limitations in complex constrained environments.
  • It exhibits versatile locomotion capabilities for unstructured wall surfaces.
  • The design facilitates practical applications requiring advanced climbing and maneuvering in confined spaces.