A Wall Climbing Robot Based on the Improved Electro Adhesion Technology

Abstract:

Electro adhesion is a novel adhesion technology, offering a new method for the designing of adhesion type of climbing robot. In this paper, an improved electro adhesion technology is put forward, using ERG (Electro Rheological Gel) as the insulating layer of electrode array. Experiments show that the adhesion force is enhanced by using ERG and the electrode array has self-cleaning function to some extent. Finally, a climbing robot was developed and it can climb kinds of walls (such as wood, glass and concrete), which proves the effectiveness of the improved electro adhesion technology.

• Periodical: Applied Mechanics and Materials (Volume 328)
• Pages: 56-61
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.328.56
• Online since: June 2013
• Authors: Jin Chao Guo, Guang Hui Dai, Guang Chao Cui
• Keywords: Electro Adhesion, Electro Rheological Gel, Electro Rheological Particle, Wall-Climbing Robot

References

[1] C. Baeksuk, J. Kyungmo, H. Chang-Soo and H. Daehie. A Survey of Climbing Robots: Locomotion and Adhesion. International journal of precision engineering and manufacturing, Vol. 11(2010), pp.633-647.

[2] Surachai Panich. Development of a Wall Climbing Robot. Journal of Computer Science, Vol. 10(2010), pp.1185-1188.

DOI: 10.3844/jcssp.2010.1185.1188

[3] Wang Wei, Wang Kun, Zong Guanghua. Principle and experiment of vibrating suction method for wall-climbing robot. Vacuum, Vol. 1(2010), pp.107-112.

DOI: 10.1016/j.vacuum.2010.04.010

[4] W. Yan, L. Shuliang, X. Dianguo. Development and application of wall-climbing robots. IEEE International Conference on Robotics and Automation, Vol. 2(2009), pp.1207-1212.

DOI: 10.1109/robot.1999.772526

[5] Wolfgang Fischer, Fabien Tache and Roland Siegwart. Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles. Springer Tracts in Advanced Robotics,Vol. 42 (2008), pp.551-561.

DOI: 10.1007/978-3-540-75404-6_53

[6] O. Tosun, H. L. Akin, M. O. Tokhi. TRIPILLAR: Miniature magnetic caterpillar climbing robot with plane transition ability. 12th International conference on climbing and walking robots and the support technologies for mobile machines (CLAWAR), Istanbul, (2009), pp.343-350.

DOI: 10.1142/9789814291279_0044

[7] B. Kennedy, A. Okon, H. Aghazarian. Lemur iib: A robotic system for steep terrain access. Climbing and Walking Robots, Vol. 34(2009), pp.1077-1084.

DOI: 10.1007/3-540-26415-9_129

[8] J. Sattar, G. Dudek. A boosting Approach to Visual Servo-Control of an Underwater Robot. Experimental Robotics, Vol. 54(2009), pp.417-428, 2009.

DOI: 10.1007/978-3-642-00196-3_48

[9] L. Yasong, A. Ausama, S. Dan and M. Carlo. Abigaille II: toward the development of a spider-inspired climbing robot. Robotica, Vol. 30 (2012), pp.79-89.

DOI: 10.1017/s0263574711000373

[10] A. Yamamoto, T. Nakashima, T. Higuchi. Wall Climbing Mechanisms Using Electrostatic Attraction Generated by Flexible Electrodes. International Symposium on Micro-Nano Mechatronics and Human Science, (2007), pp.389-394.

DOI: 10.1109/mhs.2007.4420886

[11] H. Prahlad, R. Pelrine, S. Stanford. Electroadhesive robots—wall-climbing robots enabled by a novel, robust, and electrically controllable adhesion technology. IEEE International Conference on Robotics and Automation, (2008), pp.3028-3033.

DOI: 10.1109/robot.2008.4543670

[12] Yasuhiro Kakinuma, Tojiro Aoyama. Application of ER gel with variable friction surface to the clamp system of aerostatic slider. Precision Engineering, Vol. 30 (2006), p.280–287.

DOI: 10.1016/j.precisioneng.2005.09.004