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Un robot colaborativo de pared continua con voltereta y accionamiento y función integrados

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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|February 4, 2026
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Resumen
Este resumen es generado por máquina.

Este estudio presenta un novedoso robot de pared continua con voltereta diseñado para entornos complejos. El robot demuestra una movilidad avanzada, que incluye la navegación por espacios confinados y la transición entre superficies, superando las limitaciones anteriores.

Palabras clave:
operación colaborativarobot de pared continua con volteretaentorno no estructuradocaminata con voltereta de radio variable

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Área de la Ciencia:

  • Robótica
  • Ingeniería Mecánica
  • Inteligencia Artificial

Sus antecedentes:

  • Los robots trepadores, en particular los de tipo voltereta, prometen para entornos no estructurados.
  • El movimiento en espacios complejos, restringidos y no estructurados sigue siendo un desafío importante para los robots actuales.

Objetivo del estudio:

  • Proponer un novedoso robot de pared continua con voltereta.
  • Mejorar la adaptabilidad del robot en entornos complejos, no estructurados y restringidos.
  • Permitir el movimiento continuo, la negociación de obstáculos y las transiciones multisuperficie.

Principales métodos:

  • Diseño de un robot con un tronco de junta continua de tres segmentos y módulos de adhesión magnética.
  • Diseño sin ataduras para una mayor movilidad.
  • Análisis del modelo cinemático y el espacio de trabajo del robot.

Principales resultados:

  • El robot realiza con éxito la escalada de paredes, el giro, la superación de obstáculos y las transiciones entre diferentes planos.
  • Demostró la capacidad de atravesar huecos estrechos (diámetro de 15 cm) y espacios confinados (ancho de 11 cm).
  • Logró la locomoción con voltereta de radio variable, soportó una carga útil de 520 g y permitió la coordinación multirrobot.

Conclusiones:

  • El robot desarrollado supera las limitaciones en entornos restringidos complejos.
  • Exhibe capacidades de locomoción versátiles para superficies de pared no estructuradas.
  • El diseño facilita aplicaciones prácticas que requieren escalada y maniobras avanzadas en espacios confinados.